A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators.
Emre SariyildizRahim MutluHaoyong YuPublished in: CoRR (2019)
Keyphrases
- sliding mode
- controller synthesis
- control system
- control law
- closed loop
- control scheme
- control strategy
- stability analysis
- control algorithm
- sliding mode control
- variable structure
- robot manipulators
- mathematical model
- external disturbances
- multi agent
- controller design
- nonlinear systems
- degrees of freedom
- pid controller
- dynamic model
- control theory
- adaptive control
- control method
- fuzzy logic