An integral sliding-mode control approach for series elastic actuator torque control.
Weichao SunLei SunMeng WangSongqi LeiJingtai LiuPublished in: ROBIO (2016)
Keyphrases
- sliding mode control
- control strategy
- control system
- control method
- adaptive fuzzy
- control algorithm
- adaptive fuzzy control
- adaptive neural
- control scheme
- external disturbances
- sliding mode
- robot manipulators
- closed loop
- sliding mode controller
- optimal control
- feedback control
- sliding surface
- fuzzy control
- control law
- inverted pendulum
- position control
- fuzzy controller
- adaptive control
- induction motor
- mathematical model
- fuzzy neural network
- nonlinear systems
- process control
- autonomous robots
- edge detection
- fuzzy logic
- fuzzy sets
- real time