Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator

Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion bodies alongside actuator dynamics constraints, both which present in shape-memory-alloy (SMA)-powered robots. This article addresses concerns robust feedback control scheme, demonstrating state tracking robot manipulator this type. Our controller uses static beam bending model to approximate the limb as an LTI system, singular-value-decomposition compensator approach decouple multi-axial anti-windup element saturation. We prove stability verify robustness our controller, intended account unmodeled dynamics. implementation is verified hardware trajectory tests SMA-powered accurate, promising results future multi-limbed