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

本文研究了在平面上运行且受到未知干扰的软连续机械臂的控制问题。通常，软连续统操纵器具有比控制输入更多的自由度，并且具有非线性动力学特性。因此，在存在干扰的情况下使用这些系统实现高位置精度是一项艰巨的任务。在本文中，我们通过使用端口-哈密尔顿公式，介绍了一种新的部分状态反馈控制器的设计，并针对一类软连续性机械臂开发了一种基于整体互连和阻尼分配无源性的控制方法。弯曲平面上的系统动力学通过使用刚性连杆欠驱动模型进行描述，其中$ñ$弹性的虚拟关节。所提出的控制规律在补偿未建模的干扰的同时将尖端旋转调节到期望值，并且仅取决于尖端旋转，这是可测量的，因此是可实现的。控制器的有效性通过仿真和通过气动驱动的软连续机械手原型上的实验得到了证明。