Robust control of continuum robots using Cosserat rod theory

•The first control design that adopts the continuum robot Cosserat rod general model.•Disregarding any design assumptions in the robot due to the Cosserat rod generality.•Simulating Continuum robots general model by utilizing the Generalized alpha method.•The resultant fast simulation allowed for general dynamic model based control design.•Designing robust Slide mode control that accommodates actuators physical limitation.