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A Hybrid Control System for a Tentacle Arm

The paper studies the control problem of a class of lighthyper-redundant robots, a tentacle arm, described by hyperbolic Partial Differential Equations with uncertain components. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a spatial weighted error control technique. A hybrid controller with two control components: a PD boundary control and a pneumatic system that controls the locking forces in the joints are discussed. Liapunov techniques are used to prove the control system stability. Numerical simulations and experimental results are also provided to verify the effectiveness of the presented approach.