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Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators.
Brayden DeBoon
Scott B. Nokleby
Carlos Rossa
Published in:
ICRA (2020)
Keyphrases
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disturbance rejection
control system
closed loop
model predictive control
active control
degrees of freedom
pid controller
limit cycle
control strategy
fuzzy logic
control law
control method
real time
objective function
mathematical model
control scheme
neural network