Saturated nonlinear control of robots with series elastic actuators.
Jie ChengShengpei DingHongjun YangXuexin ZhangTairen SunPublished in: RCAR (2021)
Keyphrases
- control system
- robotic systems
- autonomous systems
- robot control
- control method
- industrial robots
- autonomous robots
- tracking control
- active control
- motion control
- robot behavior
- shape memory alloy
- real time
- formation control
- legged robots
- optimal control
- unstructured environments
- highly nonlinear
- nonlinear dynamics
- human robot interaction
- robot teams
- steady state error
- quadruped robot
- mathematical model