Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics.
Rodrigo J. Velasco-GuillenVictor GrosuBram VanderborghtJosep M. Font-LlagunesPhilipp BeckerlePublished in: BioRob (2022)
Keyphrases
- pi control
- fault tolerant
- control strategy
- experimental evaluation
- position control
- control system
- control scheme
- control method
- force control
- control strategies
- fault tolerance
- operating conditions
- distributed systems
- pi controller
- control algorithm
- fuzzy controller
- mathematical model
- dc motor
- closed loop
- optimal control
- sensor networks
- artificial intelligence
- control architecture
- predictive control
- speed control
- sliding mode control
- state machine
- fuzzy control
- control law
- load balancing
- transient response
- robot manipulators
- variable structure
- robotic systems
- matlab simulink
- safety critical
- finite element analysis
- adaptive control
- induction motor
- sliding mode
- finite element model
- fuzzy logic
- real time