Passive Realizations of Series Elastic Actuation: Passivity and Effects of Plant and Controller Dynamics on Haptic Rendering Performance.
Celal Umut KenanogluVolkan PatogluPublished in: CoRR (2022)
Keyphrases
- control system
- limit cycle
- high fidelity
- control algorithm
- impedance control
- dynamic model
- real time
- disturbance rejection
- control scheme
- sliding mode
- dynamical systems
- computer graphics
- high quality
- nonlinear dynamics
- random variables
- control strategy
- virtual environment
- pi controller
- fuzzy logic controller
- robust stability
- neural network
- global illumination
- highly nonlinear
- neural model
- optimal control
- fuzzy logic
- controller design
- degrees of freedom
- trajectory tracking
- closed loop
- mathematical model
- heat exchanger
- continuous stirred tank reactor
- real time control
- control theory
- tracking error
- operating conditions
- network dynamics