Paper Info
Title
Offset-free Model Predictive Control: A Ball Catching Application with a Spherical Soft Robotic Arm
Abstract
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to systematically compensate model deviations. Dynamic effects such as material relaxation resulting from the use of soft materials can be addressed to achieve offset-free tra...
Year
DOI
Venue
2021
10.1109/IROS51168.2021.9636608
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
DocType
ISSN
Trajectory tracking,Estimation,Soft robotics,Predictive models,Manipulators,Robustness,Standards
Conference
2153-0858
ISBN
Citations 
PageRank 
978-1-6654-1714-3
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Yaohui Huang100.34
Matthias Hofer277.27
Raffaello D'andrea31592162.96