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.
2022-01-01
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.
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