Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer.
Wei YinLei SunMeng WangJingtai LiuPublished in: ACC (2018)
Keyphrases
- position control
- control scheme
- sliding mode
- closed loop
- force control
- control system
- robot manipulators
- control law
- control strategy
- robotic manipulator
- variable structure
- real time
- trajectory tracking
- control strategies
- robot arm
- sliding mode control
- nonlinear systems
- dc motor
- feedback loop
- pid controller
- control algorithm
- degrees of freedom
- image sequences