Robust control of electrohydraulic soft robots.

ABSTRACT: This article introduces a model-based robust control framework for electrohydraulic soft robots. The methods presented herein exploit linear system control theory as it applies to a nonlinear soft robotic system. We employ dynamic mode decomposition with control (DMDc) to create appropriate linear models from real-world measurements. We build on the theory by developing linear models in various operational regions of the system to result in a collection of linear plants used in uncertainty analysis. To complement the uncertainty analyses, we utilize H∞ ("H Infinity") synthesis techniques to determine an optimal controller to meet performance requirements for the nominal plant. Following this methodology, we demonstrate robust control over a multi-input multi-output (MIMO) hydraulically amp

SUBMITTER: Volchko A 

PROVIDER: S-EPMC11327443 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature