An Active Disturbance Rejection controller design for the robust position control of Series Elastic Actuators.
Emre SariyildizGong ChenHaoyong YuPublished in: IROS (2016)
Keyphrases
- controller design
- control system
- disturbance rejection
- control scheme
- closed loop
- position control
- control strategies
- pid controller
- control strategy
- control law
- nonlinear systems
- fuzzy controller
- real time
- fuzzy control
- fuzzy logic
- dynamic model
- learning rate
- control method
- control algorithm
- mathematical model
- degrees of freedom
- mobile robot
- robot manipulators
- dynamic environments