Imperial College London
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DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
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Contact

 

e.franco11 Website CV

 
 
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Location

 

414BBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Franco:2020:10.1109/CDC40024.2019.9029449,
author = {Franco, E and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1109/CDC40024.2019.9029449},
pages = {1019--1024},
publisher = {IEEE},
title = {Model based adaptive control for a soft robotic manipulator},
url = {http://dx.doi.org/10.1109/CDC40024.2019.9029449},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - The  application  of  model  based  adaptive  control to  an  underactuated  system  representative  of  a  class  of  soft continuummanipulators  is  investigated.  To  this  end,  a  rigid-linkmodel   with   elastic   joints  is   employed   and   an   energy shaping controller is designed. Additionally, model uncertainties  and  external  disturbances, both matched  and unmatched,  are compensated  with an  adaptive  algorithm. This results  in  a  control  law  that  only  depends  on  the  orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are  discussed  and  the  effectiveness  of  the  controller  is  verified via simulations.
AU  - Franco,E
AU  - Garriga,Casanovas A
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1109/CDC40024.2019.9029449
EP  - 1024
PB  - IEEE
PY  - 2020///
SP  - 1019
TI  - Model based adaptive control for a soft robotic manipulator
UR  - http://dx.doi.org/10.1109/CDC40024.2019.9029449
UR  - https://ieeexplore.ieee.org/document/9029449
UR  - http://hdl.handle.net/10044/1/75757
ER  -
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