Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators.
Hyunwook LeeJee-Hwan RyuJinoh LeeSehoon OhPublished in: IEEE Trans. Ind. Electron. (2021)
Keyphrases
- impedance control
- control system
- control strategy
- force control
- mathematical model
- contact force
- operating conditions
- open loop
- loading conditions
- optimal control
- dynamic model
- control scheme
- model free
- sliding mode
- closed loop
- load balancing
- control algorithm
- optimal design
- manipulation tasks
- control method
- power system
- matlab simulink
- feedback control
- control theory
- control strategies
- trajectory tracking
- position control