Multi-surface sliding mode control of continuum robots with mismatched uncertainties
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DOI: 10.1007/s11012-019-01072-6
Abstract: In this paper, we tackle the control problem of continuum robots with mismatched uncertainties. Uncertainties that affect systems through any of their states and may not be directly accessed by their controllers. These uncertainties emerge… read more here.
Keywords: continuum robots; robots mismatched; multi surface; control continuum ... See more keywords
Data-Driven Control for Continuum Robots Based on Discrete Zeroing Neural Networks
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DOI: 10.1109/tii.2022.3204307
Abstract: The effectiveness of continuous-time zeroing neural network (ZNN) (CZNN) in continuum robot control has been preliminarily verified. However, CZNN is not friendly to digital devices and hardware implementation. Although discrete ZNN (DZNN) has been investigated… read more here.
Keywords: zeroing neural; control continuum; continuum robots; data driven ... See more keywords
Design of Fractional-Order PID controller for trajectory tracking control of continuum robots
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DOI: 10.5937/fme2302243b
Abstract: Continuum robots are the behavioral extension of hyper-redundant robots usually inspired by living biological organs. These robots outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On the flip side, they… read more here.
Keywords: control; controller; control continuum; continuum robots ... See more keywords