Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Koopman-based Control of a Soft Continuum Manipulator Under Variable
  Loading Conditions   Controlling soft continuum manipulator arms is difficult due to their
infinite degrees of freedom, nonlinear material properties, and large
deflections under loading. This paper presents a data-driven approach to
identifying soft manipulator models that enables consistent control under
variable loading conditions. This is achieved by incorporating loads into a
linear Koopman operator model as states and estimating their values online via
an observer within the control loop. Using this approach, real-time, fully
autonomous control of a pneumatically actuated soft continuum manipulator is
achieved. In several trajectory following experiments, this controller is shown
to be more accurate and precise than controllers based on models that are
unable to explicitly account for loading. The manipulator also successfully
performs pick and place of objects with unknown mass, demonstrating the
efficacy of this approach in executing real-world manipulation tasks.

17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
11
The categories of this paper are: hep-lat
28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
14
The categories of this paper are: math-ph
9
The categories of this paper are: nlin
10
The categories of this paper are: q-bio
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
2
The categories of this paper are: math
21
The categories of this paper are: adap-org
18
The categories of this paper are: econ
31
The categories of this paper are: ao-sci