Decoupled Torque Control of Series Elastic Actuator With Adaptive Robust Compensation of Time-Varying Load-Side Dynamics.
Yinjie LinZheng ChenBin YaoPublished in: IEEE Trans. Ind. Electron. (2020)
Keyphrases
- control system
- trajectory tracking control
- control scheme
- closed loop
- parameter uncertainties
- control method
- pi control
- adaptive control
- control strategy
- control algorithm
- dynamic model
- control law
- lyapunov theory
- multi input multi output
- position control
- induction motor
- optimal control
- dc motor
- control loop
- tracking error
- load balancing
- control strategies
- nonlinear dynamics
- robotic manipulator
- external forces
- variable structure
- neural network
- control theory
- elastic matching
- adaptive fuzzy
- intelligent control
- fuzzy logic
- nonlinear systems
- robotic systems
- dynamical systems
- mathematical model
- computationally efficient