Robust control of a silicone soft robot ...
Document type :
Compte-rendu et recension critique d'ouvrage
Title :
Robust control of a silicone soft robot using neural networks
Author(s) :
Zheng, Gang [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Zhou, Yuan [Auteur]
Shanghai Jiao Tong University [Shanghai]
Ju, Mingda [Auteur]
Equipes Traitement de l'Information et Systèmes [ETIS - UMR 8051]

Deformable Robots Simulation Team [DEFROST ]
Zhou, Yuan [Auteur]
Shanghai Jiao Tong University [Shanghai]
Ju, Mingda [Auteur]
Equipes Traitement de l'Information et Systèmes [ETIS - UMR 8051]
Journal title :
ISA Transactions
Pages :
38-45
Publisher :
Elsevier
Publication date :
2020-05
ISSN :
0019-0578
English keyword(s) :
Soft robot
Machine Learning
Robust control
Machine Learning
Robust control
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
This paper deals with the robust controller design problem to regulate the position of a soft robot with elastic behavior, driven by 4 cable actuators. In this work, we first used an artificial neural network to approximate ...
Show more >This paper deals with the robust controller design problem to regulate the position of a soft robot with elastic behavior, driven by 4 cable actuators. In this work, we first used an artificial neural network to approximate the relation between these actuators and the controlled position of the soft robot, based on which two types of robust controllers (type of integral and sliding mode) are proposed. The effectiveness and the robustness of the proposed controllers have been analyzed both for the constant and the time-varying disturbances. The performances (precision, convergence speed and robustness) of the proposed method have been validated via different experimental tests.Show less >
Show more >This paper deals with the robust controller design problem to regulate the position of a soft robot with elastic behavior, driven by 4 cable actuators. In this work, we first used an artificial neural network to approximate the relation between these actuators and the controlled position of the soft robot, based on which two types of robust controllers (type of integral and sliding mode) are proposed. The effectiveness and the robustness of the proposed controllers have been analyzed both for the constant and the time-varying disturbances. The performances (precision, convergence speed and robustness) of the proposed method have been validated via different experimental tests.Show less >
Language :
Anglais
Popular science :
Non
ANR Project :
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