학술논문
On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control
Document Type
Periodical
Author
Source
IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 7:385-390 2023
Subject
Language
ISSN
2475-1456
Abstract
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.