Nonlinear disturbance observer based torque control for series elastic actuator.
Meng WangLei SunWei YinShuai DongJingtai LiuPublished in: IROS (2016)
Keyphrases
- control system
- control method
- control strategy
- control algorithm
- position control
- control scheme
- external forces
- dynamic model
- closed loop
- induction motor
- highly nonlinear
- adaptive neural
- external disturbances
- adaptive control
- optimal control
- nonlinear functions
- nonlinear dynamics
- visual feedback
- lyapunov function
- tracking control
- neural network controller
- fuzzy logic
- neural network