This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a tem- plate model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.

Trumic M., Santina C.D., Jovanovic K., & Fagiolini A. (2022). On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control. IEEE CONTROL SYSTEMS LETTERS, 7, 385-390 [10.1109/LCSYS.2022.3187612].

On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control

Trumic M.;Fagiolini A.
2022

Abstract

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a tem- plate model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.
Trumic M., Santina C.D., Jovanovic K., & Fagiolini A. (2022). On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control. IEEE CONTROL SYSTEMS LETTERS, 7, 385-390 [10.1109/LCSYS.2022.3187612].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10447/566204
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