Model Reference Predictive Adaptive Control for Large-Scale Soft Robots

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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Bibliographic Details
Main Authors: Phillip Hyatt, Curtis C. Johnson, Marc D. Killpack
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-10-01
Series:Frontiers in Robotics and AI
Subjects:
model predictive control
adaptive control
continuum robot
dynamic modeling
MRAC
parameter mismatch
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2020.558027/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2020.558027/full

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