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LPV Framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model

Abstract : This work presents a methodology to control soft robots using a reduced order nonlinear finite element model. The Linear Parameter-Varying (LPV) framework is used both to model the robot along a prescribed trajectory and to design its control law. Model reduction algorithms along with radial basis functions network are used to identify the nonlinear behavior of the robot. Finally, the method is validated through simulation experiments.
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https://hal.archives-ouvertes.fr/hal-02567575
Contributor : Maxime Thieffry <>
Submitted on : Thursday, May 7, 2020 - 9:29:12 PM
Last modification on : Tuesday, June 23, 2020 - 9:46:26 AM

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  • HAL Id : hal-02567575, version 1

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Maxime Thieffry, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez. LPV Framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model. IFAC 2020 - 21rst IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02567575⟩

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