Improved Trajectory Tracking Control for a Continuum Robot Using Error-Driven ADRC with Input Mapping Method
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS（2024）
Key words
Uncertainty,Jacobian matrices,Robots,Bending,Deformable models,Actuators,Trajectory tracking,Active disturbance rejection control (ADRC),continuum robot (CR),input mapping method,uncertainty and disturbance
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