On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control
- Resource Type
- Periodical
- Authors
- Trumic, M.; Santina, C.D.; Jovanovic, K.; Fagiolini, A.
- Source
- IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 7:385-390 2023
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Robots
Soft robotics
Potential energy
Control systems
Stability criteria
Gravity
Torque
Emerging control applications
stability of nonlinear systems
robotics
- Language
- ISSN
- 2475-1456
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.