Impedance Control and Performance Measure of Series Elastic Actuators
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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ژورنال
عنوان ژورنال: IEEE Transactions on Industrial Electronics
سال: 2018
ISSN: 0278-0046,1557-9948
DOI: 10.1109/tie.2017.2745407