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  • 标题:LPV framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model
  • 本地全文:下载
  • 作者:Maxime Thieffry ; Alexandre Kruszewski ; Thierry-Marie Guerra
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2020
  • 卷号:53
  • 期号:2
  • 页码:7312-7318
  • DOI:10.1016/j.ifacol.2020.12.984
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis work presents a methodology to control soft robots using a reduced order nonlinear finite element model. The Linear Parameter-Varying (LPV) framework is used both to model the robot along a prescribed trajectory and to design its control law. Model reduction algorithms along with radial basis functions network are used to identify the nonlinear behavior of the robot. Finally, the method is validated through simulation experiments.
  • 关键词:KeywordsSoft roboticsControlLinear parameter-varying systemsLyapunov methodsModel Reduction
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