Robust Koopman-MPC Approach with High-Order Disturbance Observer for Control of Pneumatic Soft Bending Actuators under External Loads
IEEE-ASME TRANSACTIONS ON MECHATRONICS（2025）
关键词
Load modeling,Bending,Predictive models,Frequency control,Accuracy,Aerospace electronics,Actuators,Uncertainty,Time-frequency analysis,Mechatronics,Disturbance observer,Koopman operator,model predictive control (MPC),soft actuators
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