ADRC-Based Trajectory Tracking Control for a Planar Continuum Robot

Cao, YF; Cao, ZG; Feng, F; Xie, L

Xie, L (通讯作者)，Shanghai Jiao Tong Univ, Sch Mat Sci & Engn, Shanghai 200240, Peoples R China.;Xie, L (通讯作者)，Shanghai Jiao Tong Univ, Inst Med Robot, Shanghai 200240, Peoples R China.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2023; 108 (1):

Abstract

Due to their inherent deformability, controlling continuum robots (CRs) comes with many challenges, including strong nonlinearity, uncertainty, and di......

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