A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators.
Emre SariyildizRahim MutluHaoyong YuPublished in: Robotica (2020)
Keyphrases
- sliding mode
- controller synthesis
- control system
- control law
- closed loop
- control scheme
- control strategy
- variable structure
- sliding mode control
- external disturbances
- control algorithm
- stability analysis
- robot manipulators
- control theory
- nonlinear systems
- controller design
- adaptive fuzzy
- control method
- fuzzy control
- fuzzy logic
- adaptive control
- mathematical model
- real time
- pid controller
- dynamic model
- experimental data