Data-Driven Position and Stiffness Control of Antagonistic Variable Stiffness Actuator Using Nonlinear Hammerstein Models.
Ali JavadiHamed HaghighiKhemwutta PornpipatsakulRonnapee ChaichaowaratPublished in: J. Sens. Actuator Networks (2024)
Keyphrases
- data driven
- position control
- control system
- mpc algorithm
- force control
- statistical models
- robotic manipulator
- feedback loop
- probabilistic model
- control scheme
- control strategies
- closed loop
- control method
- model driven
- prior knowledge
- model selection
- tracking control
- ordinary differential equations
- finite element model
- pid controller
- mathematical models
- optimal control
- mathematical model
- parameter estimation