A novel sliding mode control for series elastic actuator torque tracking with an extended disturbance observer.
Meng WangLei SunWei YinShuai DongJingtai LiuPublished in: ROBIO (2015)
Keyphrases
- external disturbances
- sliding mode control
- closed loop
- control scheme
- control strategy
- adaptive fuzzy
- control system
- control algorithm
- control law
- control method
- adaptive fuzzy control
- robot manipulators
- adaptive neural
- support vector regression
- sliding mode
- fuzzy control
- tracking error
- chaotic systems
- particle filter
- trajectory tracking
- optimal control
- dynamic model
- mathematical model
- real time
- desired trajectory
- fuzzy controller
- wastewater treatment plant
- pid controller
- impulse noise
- nonlinear systems
- fuzzy neural network
- computational intelligence
- fuzzy logic
- reinforcement learning