Energy shaping control with integral action for soft continuum manipulators

This paper investigates the control problem for soft continuum manipulators that operate on a plane and are subject to unknown disturbances. In general, have more degrees-of-freedom than inputs characterised by nonlinear dynamics. Thus, achieving high position accuracy with these systems in presence of disturbances is challenging task. this we present design new partial-state feedback controller using port-Hamiltonian formulation develop variation Integral Interconnection Damping Assignment Passivity Based Control methodology class manipulators. The system dynamics bending described rigid-link underactuated model n elastic virtual joints. proposed law regulates tip rotation desired value while compensating unmodelled only depends rotation, which measurable, hence it implementable. effectiveness demonstrated simulations experiments manipulator prototype employs pneumatic actuation.