Jia-Huan Song

ASOFNN-Enhanced Sliding Mode Control of Soft Actuators: Design and Experimental Validation

This paper proposes an adaptive fast terminal sliding mode control (FTSMC) strategy for a self-designed soft actuator, in which a vision-based non-contact measurement method is employed to detect the end-point position of the soft actuator and convert it into the actuator’s bending angle. An Euler-Lagrange method is us...