Discrete-time model based control of soft manipulator with FBG sensing
Enrico Franco,Ayhan Aktas,Shen Treratanakulchai,Arnau Garriga-Casanovas,Abdulhamit Donder,Ferdinando Rodriguez y Baena,Enrico Franco,Ayhan Aktas,Shen Treratanakulchai,Arnau Garriga-Casanovas,Abdulhamit Donder,Ferdinando Rodriguez y Baena
In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending ...
