LPV framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model | Zendy

Maxime Thieffry | Zendy; Alexandre Kruszewski | Zendy; ThierryMarie Guerra | Zendy; Christian Duriez | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

LPV framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model

Author(s) -

Maxime Thieffry,

Alexandre Kruszewski,

ThierryMarie Guerra,

Christian Duriez

Publication year - 2020

Publication title -

ifac-papersonline

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.308

H-Index - 72

eISSN - 2405-8971

pISSN - 2405-8963

DOI - 10.1016/j.ifacol.2020.12.984

Subject(s) - robot , finite element method , nonlinear system , control theory (sociology) , trajectory , reduction (mathematics) , control engineering , computer science , control (management) , engineering , mathematics , artificial intelligence , structural engineering , physics , geometry , quantum mechanics , astronomy

This work presents a methodology to control soft robots using a reduced order nonlinear finite element model. The Linear Parameter-Varying (LPV) framework is used both to model the robot along a prescribed trajectory and to design its control law. Model reduction algorithms along with radial basis functions network are used to identify the nonlinear behavior of the robot. Finally, the method is validated through simulation experiments.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research