Sliding Mode Control with Feedforward Compensation for a Soft Manipulator That Considers Environment Contact Constraints

Author:

Chen Yinglong12ORCID,Sun Qiang1,Wang Jia3,Zhang Junhao1ORCID,Zhao Pengyu1,Gong Yongjun1

Affiliation:

1. Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116000, China

2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

3. JiuJiang 707 SCI&TECH Co., Ltd., Jiujiang 332007, China

Abstract

Soft manipulators have desirable environmental compatibility because of their pliability. However, this pliability also brings challenges to modeling and control when considering contact or collision with the environment. In previous work, we established several mathematical models for describing fluidic soft manipulators under environmental effects and verified their accuracy. However, the controller design for a soft manipulator is still a significant challenge, especially under the conditions of environmental contact. In this paper, we build upon our previously established work by conducting feedforward compensation for a soft manipulator under contact constraints and designing a sliding mode controller based on an operational space dynamics model. Then, we combine the feedforward compensation model with the sliding mode controller to realize accurate position control of the soft manipulator. Finally, simulation and experimental results show that this controller can accurately and effectively control the position of the soft manipulator.

Funder

National Natural Science Foundation of China

Fundamental Research Funds for the Central Universities

Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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