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Updated: Jul 11, 2025

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非线性动态建模和基于模型的AI驱动的控制磁活性软连续机器人在流体环境中的控制

Seyed Alireza Moezi1, Ramin Sedaghati1, Subhash Rakheja1

  • 1Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 De Maisonneuve Blvd. West, Montreal, QC H3G 1M8, Canada.

ISA transactions
|November 6, 2023
PubMed
概括

本研究介绍了一种新的动态模型和人工智能控制,用于在流体环境中的磁活性软连续机器人 (MSCR). 先进的控制方法准确地引导MSCR,在模拟的身体条件下表现出卓越的性能.

关键词:
深度决定性的政策梯度渐变.深度强化学习的学习.流体环境 流体环境分数级的滑动表面是分数级的.凯尔文 - 沃伊格特散射模型磁活性软连续机器人机器人非线性磁粘弹性模型是非线性的.追踪控制系统的追踪控制系统

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