This research paper presents a servo control system using sliding mode control for shape control of elastic objects. The system is designed to handle non-smooth and asymmetric control saturation using a Gaussian-based continuous differentiable asymmetric saturation function. The system stability of the controller and the estimation stability of the deformation Jacobian matrix are combined, proving the control stability of the closed-loop system. The system is designed to be robust and does not require second-order derivatives of variables. The paper also considers the common asymmetric and non-smooth control input saturation problems in practical applications.
Publication date: 29 Dec 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2312.16048
