Nonlinear Dynamic Analysis and Control of a Small-Scale Magnetoactive Soft Robot

Abstract

View Video Presentation: https://doi.org/10.2514/6.2022-0164.vid In this study, a finite element model has been developed to analyze the nonlinear response characteristics of a magnetoactive soft robotic cantilever beam under varied external magnetic field. The validity of the model is demonstrated by comparing the simulation results with the available experimental data. The deflection of the soft robotic beam increased linearly with the magnetic field under low magnetic flux density and approached saturation under a higher magnetic field. Owing to the highly nonlinear response of the robot, an optimal Fuzzy-PID controller is designed to make the magnetic soft robot track the predefined path. Simulation results show superior tracking performance of the proposed optimal Fuzzy-PID controller when compared to the optimal PID control method.