A sliding mode controller design for the robust position control problem of series elastic actuators.

Emre Sariyildiz Huiming Wang Haoyong Yu

Published 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