Force control of an uncertain series elastic actuator system via a fuzzy sliding mode controller and a nonlinear state estimator.
Seyed Ali MoafiFarid NajafiPublished in: J. Syst. Control. Eng. (2020)
Keyphrases
- adaptive control
- sliding mode
- variable structure
- control law
- force control
- sliding mode controller
- control method
- closed loop
- control strategy
- control system
- control algorithm
- control theory
- control scheme
- sliding mode control
- position control
- robot manipulators
- neural network
- fuzzy control
- optimal control
- fuzzy sets
- adaptive fuzzy
- fuzzy logic
- reinforcement learning
- state variables
- state space
- dynamic programming
- fuzzy neural network
- mathematical model
- least squares