Simultaneous position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control.
Tuan Anh LuongKihyeon KimSung-Won SeoJeongmin JeonJa Choon KooHyouk Ryeol ChoiHyungpil MoonPublished in: IROS (2020)
Keyphrases
- model predictive control
- control system
- predictive control
- position control
- control scheme
- closed loop
- fuzzy logic
- control strategy
- real time
- control algorithm
- control method
- control strategies
- disturbance rejection
- optimal control
- impedance control
- control law
- artificial intelligence
- pid controller
- benchmark datasets
- mpc algorithm