Model-free motion control of continuum robots based on a zeroing neurodynamic approach

DOI10.1016/J.NEUNET.2020.10.005MaRDI QIDQ2055058zbMATH OpenOpenAlexWikidataFDO

Authors Ning Tan, Peng Yu, Xinyu Zhang, Tao Wang

Publication date 3 December 2021

Published in Neural Networks (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.neunet.2020.10.005

zbMATH Keywords

feedbackrecurrent neural networkmodel-freecontinuum robotszeroing neurodynamics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A new noise-tolerant and predefined-time ZNN model for time-dependent matrix inversion
• Design, verification and robotic application of a novel recurrent neural network for computing dynamic Sylvester equation
• Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots
• Noise-Tolerant ZNN Models for Solving Time-Varying Zero-Finding Problems: A Control-Theoretic Approach
• Zeroing dynamics, gradient dynamics, and Newton iterations
• Zhang functions and various models

Cited in

(10)

• Path planning of continuum robot based on path fitting
• Dynamic modeling and control of an octopus inspired multiple continuum arm robot
• Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots
• Distributed time-varying optimization control protocol for multi-agent systems via finite-time consensus approach
• Discrete‐time extended state observer‐based model‐free adaptive sliding mode control with prescribed performance
• Constant Curvature Kinematic Model Analysis and Experimental Validation for Tendon Driven Continuum Manipulators
• Framework of modelling concentric tube robot and comparison on computational efficiency
• Adaptive model-free disturbance rejection for continuum robots
• Driving torque model of the bionic soft arm’s hyperelastic bellows
• Recurrent neural networks as kinematics estimator and controller for redundant manipulators subject to physical constraints

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