Decentralized Estimation and Control of a Soft Robotic Arm

This chapter uses PDE models to design decentralized estimation and control laws for a segmented octopus arm. The dynamics of the soft robot arm are formulated as a nonlinear PDE, which is then linearized about setpoints to obtain a linear PDE representation similar to the linear Euler–Bernoulli beam equations. We use this linearized PDE model to design infinite-dimensional control and estimation laws. The optimal controllers and observers are then discretized during the implementation phase to perform operations such as shape tracking. We show that the discretized observer or controller can be implemented in a manner that allows decentralized operation in the robot arm.

本章使用偏微分方程（PDE）模型为分段章鱼臂设计分散式估计和控制律。软体机器人手臂的动力学被表述为一个非线性偏微分方程，然后围绕设定点将其线性化，以获得类似于线性欧拉 - 伯努利梁方程的线性偏微分方程表达式。我们使用这个线性化的PDE模型来设计无限维控制和估计律。然后在实施阶段对最优控制器和观测器进行离散化，以执行形状跟踪等操作。我们表明，离散化的观测器或控制器能够以允许机器人手臂分散操作的方式来实施。