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Robust Control of a Serial Variable Stiffness Actuator Based on Nonlinear Disturbance Observer (NDOB).
Zhao Guo
Jiantao Sun
Jie Ling
Tairen Sun
Yongping Pan
Xiaohui Xiao
Published in:
ICARM (2018)
Keyphrases
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control system
control method
tracking control
highly nonlinear
closed loop
control theory
adaptive neural
position control
robust stability
external disturbances
optimal control
lyapunov function
impedance control
steady state error