A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

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This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

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A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

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Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

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3D printed large amplitude torsional microactuators powered by ultrasound

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