Nonlinear dynamic modeling and model-based AI-driven control of a magnetoactive soft continuum robot in a fluidic environment.

Moezi, Seyed Alireza; Sedaghati, Ramin; Rakheja, Subhash.

Afiliação

Moezi SA; Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 De Maisonneuve Blvd. West, Montreal, QC H3G 1M8, Canada. Electronic address: seyedalireza.moezi@concordia.ca.
Sedaghati R; Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 De Maisonneuve Blvd. West, Montreal, QC H3G 1M8, Canada.
Rakheja S; Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 De Maisonneuve Blvd. West, Montreal, QC H3G 1M8, Canada.

ISA Trans ; 144: 245-259, 2024 Jan.

Article em En | MEDLINE | ID: mdl-37932207

Palavras-chave

Deep deterministic policy gradient; Deep reinforcement learning; Fluidic environment; Fractional-order sliding surface; Kelvin-Voigt dissipation model; Magnetoactive soft continuum robot; Nonlinear magneto-viscoelastic model; Tracking control

Texto completo: 1 Base de dados: MEDLINE Idioma: En Ano de publicação: 2024 Tipo de documento: Article

Texto completo: 1 Base de dados: MEDLINE Idioma: En Ano de publicação: 2024 Tipo de documento: Article