Robust Tracking Control of Variable Stiffness Joint Based on Feedback Linearization and Disturbance Observer With Estimation Error Compensation

Robust Tracking Control of Variable Stiffness Joint Based on Feedback Linearization and Disturbance Observer With Estimation Error Compensation

The variable stiffness joint (VSJ) has the characteristics of independent and controllable position and stiffness. The variable stiffness characteristics and inherent flexibility make the VSJ suitable to be used as the actuation joint of the physical human-robot interaction application robot, so as...

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Bibliographic Details
Main Author: Jishu Guo
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Variable stiffness joint
feedback linearization
disturbance observer
sliding mode control
estimation error compensator
robust tracking control
Online Access:https://ieeexplore.ieee.org/document/9201271/

Internet

https://ieeexplore.ieee.org/document/9201271/

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