This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for various applications. However, modeling and controlling them pose challenges due to their nonlinear dynamics. To model their dynamics, the Cosserat rod method is employed to account for significant deflections, and a numerical solution method is developed to solve the resulting partial differential equations. Previous studies on controlling tendon-driven continuum robots using Cosserat rod theory focused on sliding mode control and were not tested for large deflections, lacking experimental validation. In this paper, backstepping control is proposed as an alternative to sliding mode control for achieving a significant bending. The numerical results are validated through experiments in this study, demonstrating that the proposed backstepping control approach is a promising solution for achieving large deflections with smoother trajectories, reduced settling time, and lower overshoot. Furthermore, two scenarios involving external forces and disturbances were introduced to further highlight the robustness of the backstepping control approach.

翻译：本文研究了基于Cosserat杆模型的腱驱动连续体机器人在大挠度下的反步控制。连续体机器人以其柔顺性和适应性著称，适用于多种应用场景。然而，由于其非线性动力学特性，对其建模和控制存在挑战。为对其动力学进行建模，本文采用Cosserat杆方法来表征显著挠度，并开发了一种数值求解方法以求解所得的偏微分方程。以往基于Cosserat杆理论控制腱驱动连续体机器人的研究主要集中于滑模控制，且未针对大挠度进行测试，缺乏实验验证。本文提出将反步控制作为滑模控制的替代方案，以实现显著弯曲。本研究通过实验验证了数值结果，表明所提出的反步控制方法是一种有前景的解决方案，能够实现大挠度，同时具有更平滑的轨迹、更短的稳定时间和更低的超调量。此外，本文还引入了涉及外力和扰动的两种场景，以进一步突显反步控制方法的鲁棒性。