A position and stiffness control strategy for variable stiffness actuators.
Irene SardellittiGustavo A. Medrano-CerdaNikolaos G. TsagarakisAmir JafariDarwin G. CaldwellPublished in: ICRA (2012)
Keyphrases
- control strategy
- position control
- control system
- control scheme
- force control
- mathematical model
- control strategies
- control method
- operating conditions
- control algorithm
- optimal control
- closed loop
- fuzzy logic control
- speed control
- control law
- control architecture
- matlab simulink
- finite element model
- fuzzy logic
- finite element analysis
- fuzzy controller
- predictive control
- dc motor
- controller design
- real time
- control loop
- numerical simulations
- pi controller
- fuzzy control
- lotka volterra