Ya-Ping Cen

SSCAK-MPC: Steady-State Constrained Adaptive Koopman Model Predictive Control for Soft Manipulators

Soft manipulators face challenges in modeling and real-time control due to nonlinear dynamics, model mismatch and drift, as well as inadequate physical consistency of data-driven models. This paper proposes a Steady-State Constrained Adaptive Koopman Model Predictive Control (SSCAK-MPC) framework to tackle these challe...