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Design of admittance controller with sliding mode based on disturbance observer for elbow joint actuated by pneumatic muscles.
Binrui Wang
Jiqing Huang
Guoyang Shen
Dijian Chen
Published in:
Ind. Robot (2020)
Keyphrases
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sliding mode
control scheme
force control
robot manipulators
control law
control system
controller design
variable structure
sliding mode control
control strategy
optimal control
fuzzy controller
degrees of freedom
nonlinear systems
input output
state space
neural network
trajectory tracking