TY - JOUR
T1 - On the Stability of the Soft Pendulum With Affine Curvature
T2 - Open-Loop, Collocated Closed-Loop, and Switching Control
AU - Trumic, Maja
AU - Santina, Cosimo Della
AU - Jovanovic, Kosta
AU - Fagiolini, Adriano
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2023
Y1 - 2023
N2 - This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template 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.
AB - This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template 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.
KW - Emerging control applications
KW - robotics
KW - stability of nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=85133775839&partnerID=8YFLogxK
U2 - 10.1109/LCSYS.2022.3187612
DO - 10.1109/LCSYS.2022.3187612
M3 - Article
AN - SCOPUS:85133775839
SN - 2475-1456
VL - 7
SP - 385
EP - 390
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
ER -