Adaptive Robust Control for Rotation Tracking of a Soft Rotary Actuator With Hysteresis Compensation
Abstract: Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation—a factor often overlooked in conventional ...
Abstract: In this work, a novel reinforcement learning-based adaptive fault-tolerant control (FTC) scheme with actuator redundancy is presented for a nonlinear strict-feedback system with nonlinear ...
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