Cascade Control for Robust Tracking of Continuum Soft Robots With Finite-Time Convergence of Pneumatic System

Pneumatic soft robots have become the premier soft robot type among the plethora of soft robot testbeds under research, being the continuum pneumatic soft robot (cPSR) the most compliant, yet challenging due to its hyperelastic behavior of its constitutive elastomer material. In this type of cPSR, e...

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Veröffentlicht in:	IEEE control systems letters 2023, Vol.7, p.577-582
Hauptverfasser:	Ayala-Carrillo, Jorge E., Parra-Vega, Vicente, Olguin-Diaz, Ernesto, Trejo-Ramos, Christian A.
Format:	Artikel
Sprache:	eng
Schlagworte:	Control applications Convergence Deformable models Dynamics mechatronics Nonlinear dynamical systems Pneumatic systems robotics Soft robotics Strain variable-structure/sliding-mode control
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