AUTHOR=Volchko Angella , Mitchell Shane K. , Scripps Tyler G. , Turin Zoe , Humbert J. Sean TITLE=Robust control of electrohydraulic soft robots JOURNAL=Frontiers in Robotics and AI VOLUME=Volume 11 - 2024 YEAR=2024 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1333837 DOI=10.3389/frobt.2024.1333837 ISSN=2296-9144 ABSTRACT=This article introduces a model-based robust control framework for electrohydraulic soft robots. The methods presented herein exploit linear system control theory as it applies to a nonlinear soft robotic system. We employ dynamic mode decomposition with control (DMDc) to create appropriate linear models from real-world measurements. We build on the theory by developing linear models in various operational regions of the system to result in a collection of linear plants used in uncertainty analysis. To complement the uncertainty analyses, we utilize H∞ (“H Infinity”) synthesis techniques to determine an optimal controller to meet performance requirements for the nominal plant. Following this methodology, we demonstrate robust control over a multi-input multi-output (MIMO) hydraulically amplified self-healing electrostatic (HASEL)-actuated system. The simplifications in the proposed framework help address the inherent uncertainties and complexities of compliant robots, providing a flexible approach for real-time control of soft robotic systems in real-world applications.