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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

Ayman A. Nada

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Open access Aug 2026

Robust Adaptive Koopman MPC Under Structured and Stochastic Uncertainty for Soft Continuum Robots

Soft continuum robots exhibit highly nonlinear and configuration-dependent dynamics, making accurate trajectory tracking challenging under model uncertainty and external disturbances. This paper presents an adaptive Koopman-based model predictive control (MPC) framework for a tendon-driven soft continuum robot and eval...

Ali Ashraf, Ayman A. Nada, Hiroyuki Ishii et al. · 0 citations

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