Model based adaptive control for a soft robotic manipulator

The application of model based adaptive control to an underactuated system representative of a class of soft continuum manipulators is investigated. To this end, a rigidlink model with elastic joints is employed and an energy shaping controller is designed. Additionally, model uncertainties and external disturbances, both matched and unmatched, are compensated with an adaptive algorithm. This results in a control law that only depends on the orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are discussed and the effectiveness of the controller is verified via simulations.

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