Angella Volchko ^1* Shane K. Mitchell ² Tyler G. Scripps ³ Zoe Turin ³ J S. Humbert ^3,4

• ¹ University of Colorado Boulder, Boulder, United States
• ² Artimus Robotics Inc., Boulder, United States
• ³ Paul M. Rady Department of Mechanical Engineering, College of Engineering and Applied Science, University of Colorado Boulder, Boulder, Colorado, United States
• ⁴ Ann and H.J. Smead Department of Aerospace Engineering Sciences, College of Engineering and Applied Science, University of Colorado Boulder, Boulder, Colorado, United States

This work demonstrates robust control over a multi-input multi-output (MIMO) hydraulically amplified self-healing electrostatic (HASEL)-actuated system. The controller synthesis framework presented herein exploits 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. Using this model-based robust control framework, we demonstrate control of a multivariable electrohydraulic soft robot.