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Model-Based Nonlinear Feedback Controllers for Pressure Control of Soft Pneumatic Actuators Using On/Off Valves

This article describes the application and comparison of three nonlinear feedback controllers for low-level control of soft actuators driven by a pressure source and single high-speed on/off solenoid valve. First, a mathematical model of the pneumatic system is established and the limitations of the...

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Principais autores: Matheus S. Xavier, Andrew J. Fleming, Yuen K. Yong
Formato: Artigo
Idioma:Inglês
Publicado em: Frontiers Media S.A. 2022-03-01
coleção:Frontiers in Robotics and AI
Assuntos:
soft pneumatic actuators
soft robotics
pneumatic systems
nonlinear control
SDRE
soft actuator
Acesso em linha:https://www.frontiersin.org/articles/10.3389/frobt.2022.818187/full
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