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Reduced Order Control of Soft Robots with Guaranteed Stability

Abstract : This work offers the ability to design a closed- loop strategy to control the dynamics of soft robots. A numerical model of a robot is obtained using the Finite Element Method, which leads to work with large-scale systems that are difficult to control. The main contribution is a reduced order model-based control law, that consists in two main features: a reduced state feedback tunes the performance while a Lyapunov function guarantees the stability of the large-scale closed-loop systems. The method is generic and usable for any soft robot, as long as a FEM model is obtained. Simulation results show that we can control and reduce the settling time of the soft robot and make it converge faster without oscillations to a desired position.
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Contributor : Maxime Thieffry <>
Submitted on : Thursday, March 29, 2018 - 10:59:52 AM
Last modification on : Thursday, February 13, 2020 - 10:21:11 AM
Document(s) archivé(s) le : Friday, September 14, 2018 - 12:22:39 AM


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  • HAL Id : hal-01747433, version 1


Maxime Thieffry, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez. Reduced Order Control of Soft Robots with Guaranteed Stability. European Control Conference ECC18, Jun 2018, Limassol, Cyprus. ⟨hal-01747433⟩



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