Nonlinear Optimal Control of a Soft Robotic Structure Actuated by Dielectric Elastomer Artificial Muscles
Author:
Affiliation:
1. Polytechnic University of Bari,Department of Electrical and Information Engineering,Bari,Italy
2. Saarland University,Department of Systems Engineering,Saarbrücken,Germany
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9863218/9863240/09863262.pdf?arnumber=9863262
Reference19 articles.
1. An optimal control approach to robust control of robot manipulators;lin;IEEE Trans Robot Autom,1998
2. Soft Robot Optimal Control Via Reduced Order Finite Element Models
3. Bistable Actuation in Multi-DoF Soft Robotic Modules Driven by Rolled Dielectric Elastomer Actuators
4. Nearly optimal control laws for nonlinear systems with saturating actuators using a neural network HJB approach
5. Optimal neuro-control strategy for nonlinear systems with asymmetric input constraints
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1. Nonlinear Coordinate Transformation and Trajectory Tracking Control of an Underactuated Soft Robot Driven by Dielectric Elastomers;2024 IEEE 7th International Conference on Soft Robotics (RoboSoft);2024-04-14
2. Design and performance of a slender soft continuum manipulator for tall structure inspection;Industrial Robot: the international journal of robotics research and application;2023-06-16
3. Energy based control of a bi-stable and underactuated soft robotic system based on dielectric elastomer actuators*;IFAC-PapersOnLine;2023
4. Mixed $\mathcal{H}_{\infty}/\mathcal{H}_{2}$ Control of a Soft Robotic Structure Actuated by Dielectric Elastomers;2022 IEEE 1st Industrial Electronics Society Annual On-Line Conference (ONCON);2022-12-09
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