Active Disturbance Rejection Controller for a Flexible Walking Bioinspired Inchworm Mobile Robot Actuated With Shape Memory Alloy Devices.
Vania Lara-OrtizAlejandro GuarnerosDusthon Llorente-VidrioDavid Cruz-OrtizIván SalgadoIsaac ChairezPublished in: IEEE Trans. Control. Syst. Technol. (2022)
Keyphrases
- limit cycle
- disturbance rejection
- mobile robot
- shape memory alloy
- neural controller
- neural model
- control scheme
- steady state
- walking speed
- control law
- closed loop
- dynamic environments
- path planning
- neural network
- control system
- pid controller
- control loop
- control algorithm
- feed forward
- recurrent neural networks
- motion planning
- autonomous robots
- neural network controller
- control strategy