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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Detalles Bibliográficos
Autores principales: Guo, Zhao, Sun, Jiantao, Ling, Jie, Pan, Yongping, Xiao, Xiaohui
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
Materias:
Neuroscience
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6588030/
https://www.ncbi.nlm.nih.gov/pubmed/31258472
http://dx.doi.org/10.3389/fnbot.2019.00035

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6588030/
https://www.ncbi.nlm.nih.gov/pubmed/31258472
http://dx.doi.org/10.3389/fnbot.2019.00035

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