Robust and Adaptive Control of a Soft Continuum Manipulator for Minimally Invasive Surgery
This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearities. To this end, a sliding-mode controller, a Lyapu...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/11/162 |
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