Offset-free model predictive control of a soft manipulator using the Koopman operator
Mechatronics(2022)
Abstract
•A data-driven controller is proposed for soft manipulators in task space.•The controller has a straightforward linear structure with a small computation burden.•The controller can minimize the effect of modeling uncertainties and external disturbance.•The controller is validated on two different soft robotic prototypes.
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Key words
Soft manipulator,Data-driven modeling and control,Koopman operator
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