Robust and Adaptive Control of a Soft Continuum Manipulator for Minimally Invasive Surgery

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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Bibliographic Details
Main Authors: Liujia Wang, Kaiwen Chen, Enrico Franco
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:Robotics
Subjects:
soft robotics
nonlinear systems
adaptive control
robust control
Online Access:https://www.mdpi.com/2218-6581/13/11/162
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