Kai-Wei Zheng

Robust Predictive Control for Soft Robots via Physics-Data Fused Spectral Submanifold Reduction With EKF

Soft robots pose significant challenges for model-based control due to their inherent high dimensionality and nonlinearity. To tackle these challenges, this letter develops a robust model predictive control (MPC) framework for soft robots, referred to as SSMR-PF-EKF, by adopting physics-data fused spectral submanifold...