Position control of a series elastic actuator based on global sliding mode controller design.
Wei YinLei SunMeng WangJingtai LiuPublished in: IEEE CAA J. Autom. Sinica (2019)
Keyphrases
- control scheme
- position control
- controller design
- sliding mode
- closed loop
- control strategy
- control law
- control system
- dynamic model
- robot manipulators
- robotic manipulator
- control strategies
- pid controller
- fuzzy controller
- nonlinear systems
- operating conditions
- feedback control
- control algorithm
- fuzzy logic
- visual servoing
- adaptive control
- tracking error
- experimental data