A sliding mode controller design for the robust position control problem of series elastic actuators.
Emre SariyildizHuiming WangHaoyong YuPublished in: ICRA (2017)
Keyphrases
- controller design
- control scheme
- sliding mode
- control system
- control strategy
- closed loop
- control strategies
- robot manipulators
- control law
- dynamic model
- nonlinear systems
- fuzzy controller
- mathematical model
- pid controller
- degrees of freedom
- control algorithm
- fuzzy logic
- genetic algorithm
- parameter tuning
- fuzzy control
- real time
- decision making
- machine learning