Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations

Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations

Variable Stiffness Actuators (VSAs) have been introduced to develop new-generation compliant robots. However, the control of VSAs is still challenging because of model perturbations such as parametric uncertainties and external disturbances. This paper proposed a non-linear disturbance observer (NDO...

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Bibliographic Details
Main Authors: Zhao Guo, Jiantao Sun, Jie Ling, Yongping Pan, Xiaohui Xiao
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-06-01
Series:Frontiers in Neurorobotics
Subjects:
variable stiffness actuator
nonlinear disturbance observer
compliant actuator
feedback linearization
composite control
model perturbations
Online Access:https://www.frontiersin.org/article/10.3389/fnbot.2019.00035/full

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https://www.frontiersin.org/article/10.3389/fnbot.2019.00035/full

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