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Model Reference Predictive Adaptive Control for Large-Scale Soft Robots

Past work has shown model predictive control (MPC) to be an effective strategy for controlling continuum joint soft robots using basic lumped-parameter models. However, the inaccuracies of these models often mean that an integral control scheme must be combined with MPC. In this paper we present a n...

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Detalles Bibliográficos
Autores principales: Hyatt, Phillip, Johnson, Curtis C., Killpack, Marc D.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806097/
https://www.ncbi.nlm.nih.gov/pubmed/33501321
http://dx.doi.org/10.3389/frobt.2020.558027