Discrete-time model based control of soft manipulator with FBG sensing
In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag...
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th-mahidol.891582023-09-04T01:01:23Z Discrete-time model based control of soft manipulator with FBG sensing Franco E. Mahidol University Computer Science In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation. 2023-09-03T18:01:23Z 2023-09-03T18:01:23Z 2023-01-01 Conference Paper Proceedings - IEEE International Conference on Robotics and Automation Vol.2023-May (2023) , 567-572 10.1109/ICRA48891.2023.10160743 10504729 2-s2.0-85168681988 https://repository.li.mahidol.ac.th/handle/123456789/89158 SCOPUS |
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Mahidol University |
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Mahidol University Library |
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Asia |
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Thailand Thailand |
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Computer Science |
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Computer Science Franco E. Discrete-time model based control of soft manipulator with FBG sensing |
| description |
In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation. |
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Mahidol University |
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Mahidol University Franco E. |
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Conference or Workshop Item |
| author |
Franco E. |
| author_sort |
Franco E. |
| title |
Discrete-time model based control of soft manipulator with FBG sensing |
| title_short |
Discrete-time model based control of soft manipulator with FBG sensing |
| title_full |
Discrete-time model based control of soft manipulator with FBG sensing |
| title_fullStr |
Discrete-time model based control of soft manipulator with FBG sensing |
| title_full_unstemmed |
Discrete-time model based control of soft manipulator with FBG sensing |
| title_sort |
discrete-time model based control of soft manipulator with fbg sensing |
| publishDate |
2023 |
| url |
https://repository.li.mahidol.ac.th/handle/123456789/89158 |
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1781416105328246784 |