Improved Driving Stability with Series Elastic Actuator and Velocity Controller.

Jin-uk Bang Ha-Neul Yoon Ji-Hyeon Kim Jang-Myung Lee

Published in: ICIRA (5) (2019)

Keyphrases

control system
closed loop
dc motor
control method
lyapunov function
neural network
real time
asymptotic stability
tracking error
feedback controller
control algorithm
optimal control
motion control
stability analysis
pid controller
improved algorithm
trajectory tracking