Control Design for Nonuniform Continuum Arm System Using Static Force and In-Domain Velocity Feedback

This article investigates the model analysis and control design of a nonuniform continuum arm system, addressing the challenges posed by its inherent nonlinearity, coupled dynamics, and large deformations. A distributed control strategy is proposed, leveraging in-domain static forces and velocity feedback to achieve controlled transitions between static variable curvature configurations. The developed model accounts for variable curvature bending configurations and provides interpretable actuation mechanisms based on cable-driven control torques. A Lyapunov-based stability analysis demonstrates the asymptotic stability of the system under the proposed control scheme. Numerical simulations, including a target capture scenario in narrow spaces, illustrate how the continuum arm can transition smoothly between different static shapes while maintaining stability. The results highlight the potential of the proposed approach for practical applications that require reliable configuration changes in confined or task-specific environments.