Matches in SemOpenAlex for { <https://semopenalex.org/work/W2561255252> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2561255252 abstract "This paper presents a practical control approach for series elastic actuators(SEAs) to generate the desired torque. Specifically, the controller is applicable to both linear and nonlinear SEAs and it works well even in the presence of unknown payload parameters and external disturbances. Via the analysis and transformation of the SEA dynamics, a lumped disturbance signal is constructed and a form convenient for controller design is developed. Then, a nonlinear disturbance observer(NDOB) and a sliding-mode control scheme are introduced to synthesize the control law. The performance of the proposed controller is theoretically ensured by Lyapunov analysis. Taking a nonlinear SEA for instance, a series of simulations and hardware experiments are carried out. The results suggest the effectiveness and superior performance of the proposed method for SEA torque control by comparing it with the cascade-PID controller." @default.
- W2561255252 created "2017-01-06" @default.
- W2561255252 creator A5021631382 @default.
- W2561255252 creator A5030233306 @default.
- W2561255252 creator A5036726873 @default.
- W2561255252 creator A5048708699 @default.
- W2561255252 creator A5074923978 @default.
- W2561255252 date "2016-10-01" @default.
- W2561255252 modified "2023-09-26" @default.
- W2561255252 title "Nonlinear disturbance observer based torque control for series elastic actuator" @default.
- W2561255252 cites W1520492402 @default.
- W2561255252 cites W1599318742 @default.
- W2561255252 cites W1990866293 @default.
- W2561255252 cites W1995343612 @default.
- W2561255252 cites W1999106229 @default.
- W2561255252 cites W2001413209 @default.
- W2561255252 cites W2036566205 @default.
- W2561255252 cites W2039790636 @default.
- W2561255252 cites W2090465025 @default.
- W2561255252 cites W2090886982 @default.
- W2561255252 cites W2111253117 @default.
- W2561255252 cites W2126728198 @default.
- W2561255252 cites W2128137193 @default.
- W2561255252 cites W2164472100 @default.
- W2561255252 cites W2166230296 @default.
- W2561255252 cites W2204074139 @default.
- W2561255252 cites W2292334126 @default.
- W2561255252 cites W2293200354 @default.
- W2561255252 cites W2332645069 @default.
- W2561255252 doi "https://doi.org/10.1109/iros.2016.7759068" @default.
- W2561255252 hasPublicationYear "2016" @default.
- W2561255252 type Work @default.
- W2561255252 sameAs 2561255252 @default.
- W2561255252 citedByCount "2" @default.
- W2561255252 countsByYear W25612552522019 @default.
- W2561255252 countsByYear W25612552522020 @default.
- W2561255252 crossrefType "proceedings-article" @default.
- W2561255252 hasAuthorship W2561255252A5021631382 @default.
- W2561255252 hasAuthorship W2561255252A5030233306 @default.
- W2561255252 hasAuthorship W2561255252A5036726873 @default.
- W2561255252 hasAuthorship W2561255252A5048708699 @default.
- W2561255252 hasAuthorship W2561255252A5074923978 @default.
- W2561255252 hasConcept C121332964 @default.
- W2561255252 hasConcept C127313418 @default.
- W2561255252 hasConcept C127413603 @default.
- W2561255252 hasConcept C133731056 @default.
- W2561255252 hasConcept C143724316 @default.
- W2561255252 hasConcept C144171764 @default.
- W2561255252 hasConcept C151730666 @default.
- W2561255252 hasConcept C154945302 @default.
- W2561255252 hasConcept C158622935 @default.
- W2561255252 hasConcept C172707124 @default.
- W2561255252 hasConcept C2775924081 @default.
- W2561255252 hasConcept C2777601987 @default.
- W2561255252 hasConcept C2780704645 @default.
- W2561255252 hasConcept C41008148 @default.
- W2561255252 hasConcept C47446073 @default.
- W2561255252 hasConcept C62520636 @default.
- W2561255252 hasConcept C97355855 @default.
- W2561255252 hasConceptScore W2561255252C121332964 @default.
- W2561255252 hasConceptScore W2561255252C127313418 @default.
- W2561255252 hasConceptScore W2561255252C127413603 @default.
- W2561255252 hasConceptScore W2561255252C133731056 @default.
- W2561255252 hasConceptScore W2561255252C143724316 @default.
- W2561255252 hasConceptScore W2561255252C144171764 @default.
- W2561255252 hasConceptScore W2561255252C151730666 @default.
- W2561255252 hasConceptScore W2561255252C154945302 @default.
- W2561255252 hasConceptScore W2561255252C158622935 @default.
- W2561255252 hasConceptScore W2561255252C172707124 @default.
- W2561255252 hasConceptScore W2561255252C2775924081 @default.
- W2561255252 hasConceptScore W2561255252C2777601987 @default.
- W2561255252 hasConceptScore W2561255252C2780704645 @default.
- W2561255252 hasConceptScore W2561255252C41008148 @default.
- W2561255252 hasConceptScore W2561255252C47446073 @default.
- W2561255252 hasConceptScore W2561255252C62520636 @default.
- W2561255252 hasConceptScore W2561255252C97355855 @default.
- W2561255252 hasLocation W25612552521 @default.
- W2561255252 hasOpenAccess W2561255252 @default.
- W2561255252 hasPrimaryLocation W25612552521 @default.
- W2561255252 hasRelatedWork W1580395847 @default.
- W2561255252 hasRelatedWork W1604378724 @default.
- W2561255252 hasRelatedWork W1973060720 @default.
- W2561255252 hasRelatedWork W2067921065 @default.
- W2561255252 hasRelatedWork W2072857324 @default.
- W2561255252 hasRelatedWork W2100439806 @default.
- W2561255252 hasRelatedWork W2164326006 @default.
- W2561255252 hasRelatedWork W2333000837 @default.
- W2561255252 hasRelatedWork W2612501290 @default.
- W2561255252 hasRelatedWork W2817366486 @default.
- W2561255252 isParatext "false" @default.
- W2561255252 isRetracted "false" @default.
- W2561255252 magId "2561255252" @default.
- W2561255252 workType "article" @default.