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Control of soft robotic manipulators remains a challenge for designs withadvanced capabilities and novel actuation. Two significant limitations aremulti-axis, three-dimensional motion of soft bodies alongside actuator dynamicsand constraints, both of which are present in shape-memory-alloy (SMA)-poweredsoft robots. This article addresses both concerns with a robust feedbackcontrol scheme, demonstrating state tracking control for a soft robotmanipulator of this type. Our controller uses a static beam bending model toapproximate the soft limb as an LTI system, alongside asingular-value-decomposition compensator approach to decouple the multi-axialmotion and an anti-windup element for the actuator saturation. We provestability and verify robustness of our controller, with robustness intended toaccount for the unmodeled dynamics. Our implementation is verified in hardwaretests of a soft SMA-powered limb, showing low tracking error, with promisingresults for future multi-limbed robots.

Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator