A robustifying methodology for switched systems with matched and unmatched uncertainties/perturbations and autonomous location transitions is presented. We avail of such methodology to design a control strategy based on integral sliding modes, thereby ensuring theoretically exact compensation of the matched uncertainties/perturbations and the minimization of the effects of the unmatched ones. An output integral sliding‐mode control technique, based on a switched algebraic hierarchical observer is also proposed. This approach allows the theoretically exact compensation of the matched uncertainties/perturbations right after the first moment. The proposed approach is illustrated via numerical simulations.

The power converters are widely used in several industrial applications where it is necessary to obtain from a fixed voltage another one higher or lower than the original. In this paper, we focus on the DC-DC (direct current) boost converters, where to guarantee the desired voltage, an internal current tracking loop is usually used. However, this tracking cannot be assured in the presence of unknown load changes and external perturbations when traditional controller strategies are implemented. In this paper, an advanced control strategy is proposed to ensure the current tracking using a saturated super-twisting controller on the power converter. The finite-time current tracking of a DC-DC boost converter is assured in the presence of bounded Lipschitz perturbations composed by unknown load changes and exogenous signals. The proposed approach generates a continuous bounded control signal applied to the converter by using a sigma-delta modulator . The controller gains are tuned to obtain finite-time stabilization of the tracking error, while the control signal remains bounded. To illustrate the effectiveness of the proposed results, the controller is applied to a physical boost converter using the hardware implemented and an STM32 Discovery development card. Besides, the controller is compared with a first-order sliding mode controller showing that for small sample times, the energy of the error signal is reduced.

This contribution presents a continuous integral sliding mode methodology for disturbed linear time-invariant systems with input and state asymmetric constraints affected by matched disturbances. This methodology preserves the nominal behavior of a system generated by a saturated nominal control law in finite time. It generates a bounded continuous control signal that satisfies the asymmetric constraints and compensates for the effects of matched bounded Lipschitz asymmetric disturbances in finite time. The proposed approach ensures that the state fulfils the constraints from the initial time. It is shown that when the initial conditions are outside the state constraints, the system solution converges to the constrained set. Simulations and experimental validation illustrate the applicability of the proposed approach.

Soft robotics has emerged as a promising approach for safe human–machine interaction, adaptive manipulation, and bioinspired motion, yet its progress relies on accurate material characterization and structural analysis of actuators. This study presents the mechanical behavior and stress analysis of a stereolithography-printed pneumatic actuator with antagonistic architecture, fabricated using Elastic 50A resin V2. Uniaxial tensile tests were performed according to ASTM D412 to derive material parameters, which were fitted to hyperelastic constitutive models. The Yeoh model was identified as the most accurate and implemented in finite element simulations to predict actuator deformation under multiple pressurization modes. Results revealed critical stress zones and established operational pressure limits of 110–130 kPa, beyond which the material approaches its tensile strength. Experimental testing with a controlled pneumatic system validated the numerical predictions, confirming both bending and multidirectional actuation as well as structural failure thresholds. The integration of material characterization, numerical modeling, and experimental validation provides a robust workflow for the design of SLA-fabricated antagonistic actuators. These findings highlight the advantages of combining digital fabrication with antagonistic actuation and material modeling to expand the understanding of soft robots’ behavior.