Backstepping Control of Tendon-Driven Continuum Robots in Large Deflections Using the Cosserat Rod Model
R Danesh, F Janabi-Sharifi - arXiv preprint arXiv:2412.12035, 2024 - arxiv.org
This paper presents a study on the backstepping control of tendon-driven continuum robots
for large deflections using the Cosserat rod model. Continuum robots are known for their …
for large deflections using the Cosserat rod model. Continuum robots are known for their …
A Neural-Network-Based Robust Controller for Robotic Flexible Endoscope with Unknown Parameters and Uncertain Disturbance
The robotic flexible endoscope is a typical continuum robot driven by tendon-sheath, which
is frequently used for identifying and treating respiratory illnesses. However, tendon-sheath …
is frequently used for identifying and treating respiratory illnesses. However, tendon-sheath …
Adaptive Multi Surface Sliding Mode Control of a Quadrotor Slung Load System
In the utilization of multirotor UAVs for the transport of suspended payloads, a good level of
accuracy and precision, with minimal vibration of the multirotor, and stability of the payload …
accuracy and precision, with minimal vibration of the multirotor, and stability of the payload …
Robust Cooperative Control of a Team of UAVs Carrying a Slung Payload
SM Samarasinghe, AA Alqumsan… - … on Systems, Man …, 2023 - ieeexplore.ieee.org
The increased use of commercial Unmanned Aerial Vehicles (UAVs) has generated a great
interest in their potential to be used for transporting loads and other equipment. However, as …
interest in their potential to be used for transporting loads and other equipment. However, as …
Adaptive Neural Network Fault-Tolerant Control of Continuum Robots Using Cosserat Rod Model
H Liu, W Liu, W Tang - 2024 43rd Chinese Control Conference …, 2024 - ieeexplore.ieee.org
This research proposes an adaptive neural network fault-tolerant control strategy utilizing
the Cosserat rod model for continuum robots. The existing control schemes assume that the …
the Cosserat rod model for continuum robots. The existing control schemes assume that the …
Adaptive Sliding Mode Fault-Tolerant Control of Tendon Driven Continuum Robots using Cosserat Rod Model
W Tang, W Liu - 2023 6th International Symposium on …, 2023 - ieeexplore.ieee.org
In this paper, an adaptive sliding mode fault-tolerant control scheme is proposed to deal with
the possible actuator faults of the tendon driven Continuum robots (CRs). CRs are …
the possible actuator faults of the tendon driven Continuum robots (CRs). CRs are …