Nonlinear Optimal Control of a Soft Robotic Structure Actuated by Dielectric Elastomer Artificial Muscles.
Paolo Roberto MassenioJohannes PrechtlDavid NasoGianluca RizzelloPublished in: AIM (2022)
Keyphrases
- optimal control
- class of nonlinear systems
- control law
- control problems
- feedback control
- lyapunov function
- dynamic programming
- linear quadratic
- real time
- continuous stirred tank reactor
- control strategy
- infinite horizon
- robotic systems
- brownian motion
- neural network controller
- stochastic control
- mobile robot
- optimal control problems