Terminal super-twisting sliding mode based on high order sliding mode observer for two DOFs lower limb system
In this paper, a novel backstepping terminal super-twisting sliding mode (TSTSM) with high order sliding mode observer (HOSMO) is proposed to control the two degrees of freedom (DOFs) Serial Elastic Actuator (SEA), inspired by a lower limb of humanoid robots. First, the dynamic model, extended from...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-09-01
|
| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940231156195 |