@inproceedings{c6690a54633945739a404cc1b7149ac4,
title = "Dynamic Modeling and Robust Control Strategy of Cable-Driven Single Joint Continuum Robot",
abstract = "In the application of an unstructured environment, a continuum robot has more advantages than a conventional robot. However, Us dynamic modeling and control are more complex. In this paper, we design a cable-driven single joint continuum robot and take it as a research object First, based on the constant curvature hypothesis, the dynamic model of the continuum robot is established according to the structure using the Lagrange method Then, a robust H∞ controller based on LMI is proposed by considering the model perturbation in the modeling process,. Finally, the availability of the designed controller is verified by simulation and experiment.",
keywords = "Cable-driven, Continuumrobot, Dynamicmodel, H control",
author = "Jiahao Shi and Jian Li and Fenggang Li and Jingbo Hu and Xin Chang and Yue Lin",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE; 2021 China Automation Congress, CAC 2021 ; Conference date: 22-10-2021 Through 24-10-2021",
year = "2021",
doi = "10.1109/CAC53003.2021.9728485",
language = "English",
series = "Proceeding - 2021 China Automation Congress, CAC 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6714--6719",
booktitle = "Proceeding - 2021 China Automation Congress, CAC 2021",
address = "United States",
}