Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.25171v1 Announce Type: new Abstract: Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and control because of their highly nonlinear, distributed dynamics. We present a control-oriented data-driven modeling and control framework that decomposes actuator behavior into a nonlinear static equilibrium model and a linear residual dynamics model identified using Extended Dynamic Mode Decomposition with control (EDMDc).