Shape control of multi-segment soft manipulator with error constraints

In this paper, we design a shape control method for multi-segment soft manipulators, and ensures that the bending angle error at the boundary of each segment does not exceed a settable threshold. In the model building part, the dynamic model of the soft manipulator is described by partial differential equations by extending Hamilton’s principle. Afterwards, the steady state of the soft manipulator is analyzed to obtain the steady state system, and the barrier Lyapunov function (BLF) is constructed to limit the regulation error of each segment. Then the asymptotic stability of the model under this control method is proved based on the Lyapunov method. Finally, the performance of the proposed control method is verified by numerical simulation.