Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots.
Maja TrumicKosta JovanovicAdriano FagioliniPublished in: Int. J. Robotics Res. (2021)
Keyphrases
- adaptive control
- variable structure
- adaptive controller
- position control
- force control
- control method
- control law
- nonlinear systems
- feedback control
- pid control
- control system
- mobile robot
- dynamic environments
- degrees of freedom
- control strategy
- lyapunov function
- multi robot
- autonomous robots
- reinforcement learning
- autonomous control
- robot arm
- end effector
- motion planning
- closed loop
- optimal control
- petri net
- machine learning