Proportional-Integrative-Derivative Based Dynamic Controller for Soft Robots

Abstract

This paper presents a novel control strategy utilizing PID-based dynamics and real-time state feedback to guide soft robot's end-effectors in challenging environments. Soft robots, known for their adaptability, have revolutionized applications in healthcare and exploration. However, their lack of rigidity poses challenges for precise control. The proposed control strategy addresses this issue by modulating PID signals to counteract external forces and perturbations, resulting in robust performance. Experimental validation on a pneumatically-actuated soft robot demonstrates the approach's effectiveness under varying conditions. This strategy offers efficient and accurate control without extensive training, unlocking advanced capabilities in soft robotics.