This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical interpretability and control structure of traditional quadrotor dynamics, while capturing the complex, time-varying behavior of pneumatically actuated soft arms. In SOFA, the soft pneumatically actuated arms are discretized as a tetrahedral mesh following an elastic material law that produces internal forces adequate to the real dynamic behavior of the body. Pneumatic actuation governed by both periodic and error-based control signals is applied within the internal cavities to analyze the morphing capability. Finally, a proportional-integral controller is proposed to study the controlled dynamic behavior and morphing capabilities of the pneumatic arm, wherein the pneumatic actuation to the soft arm is controlled to achieve the desired target position. The simulation results show the effectiveness of the proposed novel modeling framework and the related controller design.

翻译：本文提出了一种基于SOFA框架的有限元方法，用于气动变形软四旋翼的软体建模及其相应的动态仿真与控制。所提出的建模方法在保留传统四旋翼动力学物理可解释性与控制结构的同时，能够捕捉气动驱动软臂复杂且时变的动态行为。在SOFA中，气动驱动的软臂被离散化为四面体网格，并遵循弹性材料定律，从而产生与软体实际动态行为相匹配的内力。通过周期性信号与误差信号共同驱动的气动控制，在内部空腔中施加作用以分析变形能力。最后，提出了一种比例-积分控制器，用于研究气动软臂的受控动态行为与变形能力，其中通过对软臂的气动驱动进行控制以实现期望的目标位置。仿真结果表明了所提出的新型建模框架及相关控制器设计的有效性。