Matches in SemOpenAlex for { <https://semopenalex.org/work/W2829123841> ?p ?o ?g. }
- W2829123841 endingPage "2120" @default.
- W2829123841 startingPage "2109" @default.
- W2829123841 abstract "A variable stiffness actuator (VSA) is an inherently parameter-dependent system due to the controllable stiffness element. Within the torque-controlled framework, the VSA is distinguished from the classical series elastic actuator (SEA). A frozen torque controller can directly determine the SEA performance with a fixed-stiffness spring selection. However, since the VSA operates at a set of operating points, the aim is to achieve an adaptive control approach. For this, we propose a gain-scheduled torque controller. The control performance is expected to recover robustness when stiffness values are varied from smaller to larger ones. Simultaneously the bandwidth is maximized, taking into account hardware limitations. In this way, a good tradeoff between stability and performance can be achieved. A key step in the gain-scheduled controller design is to implement the linear controllers, where the linear quadratic Gaussian (LQG) technique was applied to deal with the multiloop feedback (a cascade control scheme) in the VSA plant. A lever-arm based VSA [i.e., a mechanical-rotary variable impedance actuator (MeRIA)] was used to verify this new controller design approach by the simulations and experiments. The resulting gain-scheduled controller was also evaluated by taking into account the impedance control testing on a motion-supported platform for the knee joint." @default.
- W2829123841 created "2018-07-19" @default.
- W2829123841 creator A5000174342 @default.
- W2829123841 creator A5060021065 @default.
- W2829123841 creator A5091171924 @default.
- W2829123841 date "2018-10-01" @default.
- W2829123841 modified "2023-09-29" @default.
- W2829123841 title "Experimental Validation of a Torque-Controlled Variable Stiffness Actuator Tuned by Gain Scheduling" @default.
- W2829123841 cites W1567010277 @default.
- W2829123841 cites W159623051 @default.
- W2829123841 cites W1974453457 @default.
- W2829123841 cites W1986090102 @default.
- W2829123841 cites W1987361672 @default.
- W2829123841 cites W1989811273 @default.
- W2829123841 cites W1996385583 @default.
- W2829123841 cites W1996869048 @default.
- W2829123841 cites W2010551961 @default.
- W2829123841 cites W2017766931 @default.
- W2829123841 cites W2030033366 @default.
- W2829123841 cites W2058174034 @default.
- W2829123841 cites W2062939404 @default.
- W2829123841 cites W2067103553 @default.
- W2829123841 cites W2073136132 @default.
- W2829123841 cites W2074759217 @default.
- W2829123841 cites W2075233632 @default.
- W2829123841 cites W2096826446 @default.
- W2829123841 cites W2111394010 @default.
- W2829123841 cites W2116767351 @default.
- W2829123841 cites W2130517972 @default.
- W2829123841 cites W2132762434 @default.
- W2829123841 cites W2134935236 @default.
- W2829123841 cites W2147288676 @default.
- W2829123841 cites W2158728671 @default.
- W2829123841 cites W2162036575 @default.
- W2829123841 cites W2163912978 @default.
- W2829123841 cites W2193981449 @default.
- W2829123841 cites W2295584263 @default.
- W2829123841 cites W2333868129 @default.
- W2829123841 cites W2467303390 @default.
- W2829123841 cites W2614333009 @default.
- W2829123841 cites W4245991817 @default.
- W2829123841 doi "https://doi.org/10.1109/tmech.2018.2854416" @default.
- W2829123841 hasPublicationYear "2018" @default.
- W2829123841 type Work @default.
- W2829123841 sameAs 2829123841 @default.
- W2829123841 citedByCount "25" @default.
- W2829123841 countsByYear W28291238412019 @default.
- W2829123841 countsByYear W28291238412020 @default.
- W2829123841 countsByYear W28291238412021 @default.
- W2829123841 countsByYear W28291238412022 @default.
- W2829123841 countsByYear W28291238412023 @default.
- W2829123841 crossrefType "journal-article" @default.
- W2829123841 hasAuthorship W2829123841A5000174342 @default.
- W2829123841 hasAuthorship W2829123841A5060021065 @default.
- W2829123841 hasAuthorship W2829123841A5091171924 @default.
- W2829123841 hasConcept C104317684 @default.
- W2829123841 hasConcept C109441226 @default.
- W2829123841 hasConcept C119599485 @default.
- W2829123841 hasConcept C121332964 @default.
- W2829123841 hasConcept C126255220 @default.
- W2829123841 hasConcept C127413603 @default.
- W2829123841 hasConcept C133731056 @default.
- W2829123841 hasConcept C144171764 @default.
- W2829123841 hasConcept C154945302 @default.
- W2829123841 hasConcept C172707124 @default.
- W2829123841 hasConcept C17500928 @default.
- W2829123841 hasConcept C185592680 @default.
- W2829123841 hasConcept C203479927 @default.
- W2829123841 hasConcept C204495892 @default.
- W2829123841 hasConcept C2775924081 @default.
- W2829123841 hasConcept C2779372316 @default.
- W2829123841 hasConcept C33923547 @default.
- W2829123841 hasConcept C41008148 @default.
- W2829123841 hasConcept C47446073 @default.
- W2829123841 hasConcept C55493867 @default.
- W2829123841 hasConcept C63479239 @default.
- W2829123841 hasConcept C6557445 @default.
- W2829123841 hasConcept C66938386 @default.
- W2829123841 hasConcept C78519656 @default.
- W2829123841 hasConcept C86803240 @default.
- W2829123841 hasConcept C91575142 @default.
- W2829123841 hasConcept C97090092 @default.
- W2829123841 hasConcept C97355855 @default.
- W2829123841 hasConceptScore W2829123841C104317684 @default.
- W2829123841 hasConceptScore W2829123841C109441226 @default.
- W2829123841 hasConceptScore W2829123841C119599485 @default.
- W2829123841 hasConceptScore W2829123841C121332964 @default.
- W2829123841 hasConceptScore W2829123841C126255220 @default.
- W2829123841 hasConceptScore W2829123841C127413603 @default.
- W2829123841 hasConceptScore W2829123841C133731056 @default.
- W2829123841 hasConceptScore W2829123841C144171764 @default.
- W2829123841 hasConceptScore W2829123841C154945302 @default.
- W2829123841 hasConceptScore W2829123841C172707124 @default.
- W2829123841 hasConceptScore W2829123841C17500928 @default.
- W2829123841 hasConceptScore W2829123841C185592680 @default.
- W2829123841 hasConceptScore W2829123841C203479927 @default.
- W2829123841 hasConceptScore W2829123841C204495892 @default.
- W2829123841 hasConceptScore W2829123841C2775924081 @default.