A Provably Stable Iterative Learning Controller for Continuum Soft Robots.
Michele PieralliniFrancesco StellaFranco AngeliniBastian DeutschmannJosie HughesAntonio BicchiManolo GarabiniCosimo Della SantinaPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- iterative learning
- iterative learning control
- trajectory tracking
- desired trajectory
- error reduction
- mobile robot
- incremental learning
- multi robot
- quadruped robot
- motion control
- control system
- autonomous robots
- robotic systems
- fuzzy logic controller
- physical constraints
- closed loop
- worst case
- control method
- intelligent control
- legged robots
- dynamic model
- learning process
- control law
- control theory
- humanoid robot
- control algorithm