A Model-free Adaptive Controller for Biomimetic Pneumatically Actuated Continuum Manipulators.
Fei MengYueyong LvGuangfu MaYunfei ZhuPublished in: ROBIO (2018)
Keyphrases
- adaptive controller
- model free
- control law
- adaptive control
- reinforcement learning
- closed loop
- nonlinear systems
- control system
- control algorithm
- control scheme
- control strategy
- function approximation
- optimal control
- feedback control
- motion planning
- tracking error
- autonomous robots
- control method
- force control
- lyapunov function
- dynamical systems
- control parameters
- state space
- neural network
- dynamic environments
- control strategies
- fuzzy logic
- fuzzy controller
- degrees of freedom
- linear combination