Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system.
Seyed Ali MoafiFarid NajafiPublished in: Trans. Inst. Meas. Control (2022)
Keyphrases
- sliding mode
- position control
- control scheme
- control loop
- control strategy
- closed loop
- control system
- control law
- robot manipulators
- robotic manipulator
- force control
- variable structure
- sliding mode controller
- fuzzy controller
- dynamic model
- control method
- trajectory tracking
- sliding mode control
- pid controller
- sliding surface
- stability analysis
- neural model
- optimal control
- pi controller
- control algorithm
- mathematical model
- nonlinear systems
- neural controller
- induction motor
- fuzzy control
- lyapunov stability
- control theory
- dc motor
- tracking error
- end effector
- feedback control
- experimental data
- adaptive control
- humanoid robot
- mobile robot