A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory
نویسندگان
چکیده
منابع مشابه
Robust Force and Impedance Control of Series Elastic Actuators
Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...
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∗ ONERA, DPRS-SAGP, BP 72 29 avenue de la Division Leclerc, F-92322 Châtillon Cedex, France (e-mail: [email protected]) ∗∗ I3S-UNSA-CNRS, Les Algorithmes, Bât. Euclide B, 2000 Route des Lucioles, BP 121 06903 Sophia Antipolis Cedex, France (e-mail: [email protected]) ∗∗∗ ONERA, DPRS-SAGP, BP 72 29 avenue de la Division Leclerc, F-92322 Châtillon Cedex, France (e-mail: helene.piet-laha...
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ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2020
ISSN: 1083-4435,1941-014X
DOI: 10.1109/tmech.2019.2951417