Soft Robot Trajectory Tracking
0.4Tracking Error (mm)Hyb. MLNN
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Hyb. MLNNCtrl. Type=Feedback, Infer. [ms]=< 3.02026.04 | 0.4 | 0.005 | 0.03 | 0.23 | |
| DKoopmanCtrl. Type=Feedback, Infer. [ms]=0.44±0.142026.04 | 1.79 | — | — | 3.25 | |
| PINN-MPCCtrl. Type=Feedback, Train [min]=> 115202026.04 | 3 | — | — | 2.3 | |
| OL-LSTMCtrl. Type=Feedforward2026.04 | 3.2 | 0.035 | 0.18 | 1.6 | |
| RF-FWDCtrl. Type=Feedforward, Infer. [ms]=0.995, Train [min]=202026.04 | 4.3 | 1.14 | 2.53 | 0.96 | |
| Dyn. Oper.Ctrl. Type=Feedback, Train [min]=< 52026.04 | — | 1.5 | 3.23 | — |