Discrete-time model based control of soft manipulator with FBG sensing
4
Issued Date
2023-01-01
Resource Type
ISSN
10504729
Scopus ID
2-s2.0-85168681988
Journal Title
Proceedings - IEEE International Conference on Robotics and Automation
Volume
2023-May
Start Page
567
End Page
572
Rights Holder(s)
SCOPUS
Bibliographic Citation
Proceedings - IEEE International Conference on Robotics and Automation Vol.2023-May (2023) , 567-572
Suggested Citation
Franco E., Aktas A., Treratanakulchai S., Garriga-Casanovas A., Donder A., Rodriguez Y Baena F. Discrete-time model based control of soft manipulator with FBG sensing. Proceedings - IEEE International Conference on Robotics and Automation Vol.2023-May (2023) , 567-572. 572. doi:10.1109/ICRA48891.2023.10160743 Retrieved from: https://repository.li.mahidol.ac.th/handle/123456789/89158
Title
Discrete-time model based control of soft manipulator with FBG sensing
Author's Affiliation
Other Contributor(s)
Abstract
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.