FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4382657730> ?p ?o ?g. }

• W4382657730 endingPage "635" @default.
• W4382657730 startingPage "623" @default.
• W4382657730 abstract "Continuum manipulators have demonstrated promising potential for flexible access and complicated operation and thus have been emerging and introduced in robot-assisted flexible endoscopy. However, due to their inherent structural compliance and strong nonlinearities, developing an accurate and robust control framework remains challenging. This paper proposes a model-free control method based on the Model-Free Adaptive Control (MFAC) algorithm to accomplish the trajectory tracking for two kinds of continuum manipulators by solely utilizing the robotic system’s real-time input/output data. The presented controller discretizes and dynamically linearizes the motion process of the continuum actuator to obtain a dynamic linearization data (DLD) model. This DLD model can be derived from a pseudo-partial derivative (PPD) matrix updated based on the I/O measurement data for the iterative operation. The stability of the presented MFAC controller can be mathematically guaranteed in theory to provide generality, and the control framework demonstrates a low computational cost and real-time control capability. The superior performance of the presented controller is firstly validated in MATLAB simulations and then compared with the other two controllers. Through experimental validation on two kinds of continuum manipulators, the model-free control framework shows high tracking accuracy and good robustness against the system uncertainty and external disturbances, as well as high transferability." @default.
• W4382657730 created "2023-07-01" @default.
• W4382657730 creator A5003850660 @default.
• W4382657730 creator A5049608012 @default.
• W4382657730 creator A5050079548 @default.
• W4382657730 creator A5057584703 @default.
• W4382657730 creator A5069543847 @default.
• W4382657730 date "2023-08-01" @default.
• W4382657730 modified "2023-10-18" @default.
• W4382657730 title "An Online Model-Free Adaptive Tracking Controller for Cable-Driven Medical Continuum Manipulators" @default.
• W4382657730 cites W1024591929 @default.
• W4382657730 cites W1499925623 @default.
• W4382657730 cites W1988003703 @default.
• W4382657730 cites W2053614949 @default.
• W4382657730 cites W2068202815 @default.
• W4382657730 cites W2083016933 @default.
• W4382657730 cites W2101667962 @default.
• W4382657730 cites W2119531408 @default.
• W4382657730 cites W2134178143 @default.
• W4382657730 cites W2142271163 @default.
• W4382657730 cites W2166532639 @default.
• W4382657730 cites W2184993170 @default.
• W4382657730 cites W2335997780 @default.
• W4382657730 cites W2525973954 @default.
• W4382657730 cites W2544641369 @default.
• W4382657730 cites W2589653451 @default.
• W4382657730 cites W2621077460 @default.
• W4382657730 cites W2639522800 @default.
• W4382657730 cites W2770049904 @default.
• W4382657730 cites W2807082263 @default.
• W4382657730 cites W2919629852 @default.
• W4382657730 cites W2942096073 @default.
• W4382657730 cites W2964668256 @default.
• W4382657730 cites W2998789543 @default.
• W4382657730 cites W3037426978 @default.
• W4382657730 cites W3081726845 @default.
• W4382657730 cites W3157145339 @default.
• W4382657730 cites W3165650603 @default.
• W4382657730 cites W4210420906 @default.
• W4382657730 cites W4210592808 @default.
• W4382657730 cites W4210927443 @default.
• W4382657730 cites W4293150125 @default.
• W4382657730 cites W4322576646 @default.
• W4382657730 cites W4327590807 @default.
• W4382657730 doi "https://doi.org/10.1109/tmrb.2023.3291024" @default.
• W4382657730 hasPublicationYear "2023" @default.
• W4382657730 type Work @default.
• W4382657730 citedByCount "0" @default.
• W4382657730 crossrefType "journal-article" @default.
• W4382657730 hasAuthorship W4382657730A5003850660 @default.
• W4382657730 hasAuthorship W4382657730A5049608012 @default.
• W4382657730 hasAuthorship W4382657730A5050079548 @default.
• W4382657730 hasAuthorship W4382657730A5057584703 @default.
• W4382657730 hasAuthorship W4382657730A5069543847 @default.
• W4382657730 hasConcept C104317684 @default.
• W4382657730 hasConcept C107464732 @default.
• W4382657730 hasConcept C11210021 @default.
• W4382657730 hasConcept C121332964 @default.
• W4382657730 hasConcept C127413603 @default.
• W4382657730 hasConcept C133731056 @default.
• W4382657730 hasConcept C154945302 @default.
• W4382657730 hasConcept C158622935 @default.
• W4382657730 hasConcept C172707124 @default.
• W4382657730 hasConcept C185592680 @default.
• W4382657730 hasConcept C2775924081 @default.
• W4382657730 hasConcept C2985527887 @default.
• W4382657730 hasConcept C41008148 @default.
• W4382657730 hasConcept C47446073 @default.
• W4382657730 hasConcept C55493867 @default.
• W4382657730 hasConcept C62520636 @default.
• W4382657730 hasConcept C63479239 @default.
• W4382657730 hasConcept C90509273 @default.
• W4382657730 hasConceptScore W4382657730C104317684 @default.
• W4382657730 hasConceptScore W4382657730C107464732 @default.
• W4382657730 hasConceptScore W4382657730C11210021 @default.
• W4382657730 hasConceptScore W4382657730C121332964 @default.
• W4382657730 hasConceptScore W4382657730C127413603 @default.
• W4382657730 hasConceptScore W4382657730C133731056 @default.
• W4382657730 hasConceptScore W4382657730C154945302 @default.
• W4382657730 hasConceptScore W4382657730C158622935 @default.
• W4382657730 hasConceptScore W4382657730C172707124 @default.
• W4382657730 hasConceptScore W4382657730C185592680 @default.
• W4382657730 hasConceptScore W4382657730C2775924081 @default.
• W4382657730 hasConceptScore W4382657730C2985527887 @default.
• W4382657730 hasConceptScore W4382657730C41008148 @default.
• W4382657730 hasConceptScore W4382657730C47446073 @default.
• W4382657730 hasConceptScore W4382657730C55493867 @default.
• W4382657730 hasConceptScore W4382657730C62520636 @default.
• W4382657730 hasConceptScore W4382657730C63479239 @default.
• W4382657730 hasConceptScore W4382657730C90509273 @default.
• W4382657730 hasFunder F4320320006 @default.
• W4382657730 hasFunder F4320321001 @default.
• W4382657730 hasIssue "3" @default.
• W4382657730 hasLocation W43826577301 @default.
• W4382657730 hasOpenAccess W4382657730 @default.
• W4382657730 hasPrimaryLocation W43826577301 @default.
• W4382657730 hasRelatedWork W1505013685 @default.
• W4382657730 hasRelatedWork W1864610870 @default.

• next