FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3123519998> ?p ?o ?g. }

• W3123519998 endingPage "104733" @default.
• W3123519998 startingPage "104733" @default.
• W3123519998 abstract "Series elastic actuators (SEA) have been gaining increasing popularity as a mechanical drive in contemporary force-controlled robotic manipulators thanks to their ability to infer the applied torque from measurements of the elastic element’s deflection. Accurate deflection control is crucial to achieve a desired output torque and, therefore, unmodelled dynamics and dynamic loads can severely compromise force fidelity. Multi-input active disturbance rejection controllers (ADRC) have the ability to estimate such disturbances affecting the plant behaviour and cancel them via an appropriate feedback controller. Thus, they offer a promising control architecture for SEA. ADRC, however, can have upwards of eight tuning parameters for each controlled state. Tuning the controller becomes quite challenging, especially in the context of multi-input, multi-objective control. This paper tackles the problem of ADRC tuning as a multi-parametric and multi-objective optimization approach. An ADRC is developed to regulate the output torque of a multi-input hybrid motor-brake–clutch SEA. The controller has a total of 22 tunable parameters. Point dominance-based nondominated sorting genetic algorithm is used to find the optimal control gains, first considering nine individual control objectives, and then in the context of multi-objective. The algorithm provides a set of potential solutions that highlight the tradeoffs between the control objectives. It is up to the discretion of the designer to select the appropriate solution that best suits a given application. The approach is validated experimentally and the results are compared with a simulated model. Experimental results confirm the suitability of the proposed approach for single and multiple control objectives in a variety of experimental scenarios and show good agreement with the analytical model." @default.
• W3123519998 created "2021-02-01" @default.
• W3123519998 creator A5062714016 @default.
• W3123519998 creator A5076465575 @default.
• W3123519998 creator A5076948225 @default.
• W3123519998 date "2021-04-01" @default.
• W3123519998 modified "2023-10-01" @default.
• W3123519998 title "Multi-objective gain optimizer for a multi-input active disturbance rejection controller: Application to series elastic actuators" @default.
• W3123519998 cites W1991424528 @default.
• W3123519998 cites W1998230610 @default.
• W3123519998 cites W2019799255 @default.
• W3123519998 cites W2022485595 @default.
• W3123519998 cites W2024008934 @default.
• W3123519998 cites W2052307500 @default.
• W3123519998 cites W2069925643 @default.
• W3123519998 cites W2135493101 @default.
• W3123519998 cites W2150046657 @default.
• W3123519998 cites W2466060750 @default.
• W3123519998 cites W2508225662 @default.
• W3123519998 cites W2508467106 @default.
• W3123519998 cites W2573986657 @default.
• W3123519998 cites W2594575977 @default.
• W3123519998 cites W2755510478 @default.
• W3123519998 cites W2912484125 @default.
• W3123519998 cites W2992172636 @default.
• W3123519998 cites W2995367813 @default.
• W3123519998 doi "https://doi.org/10.1016/j.conengprac.2021.104733" @default.
• W3123519998 hasPublicationYear "2021" @default.
• W3123519998 type Work @default.
• W3123519998 sameAs 3123519998 @default.
• W3123519998 citedByCount "10" @default.
• W3123519998 countsByYear W31235199982021 @default.
• W3123519998 countsByYear W31235199982022 @default.
• W3123519998 countsByYear W31235199982023 @default.
• W3123519998 crossrefType "journal-article" @default.
• W3123519998 hasAuthorship W3123519998A5062714016 @default.
• W3123519998 hasAuthorship W3123519998A5076465575 @default.
• W3123519998 hasAuthorship W3123519998A5076948225 @default.
• W3123519998 hasConcept C105795698 @default.
• W3123519998 hasConcept C117251300 @default.
• W3123519998 hasConcept C120665830 @default.
• W3123519998 hasConcept C121332964 @default.
• W3123519998 hasConcept C127413603 @default.
• W3123519998 hasConcept C133731056 @default.
• W3123519998 hasConcept C144171764 @default.
• W3123519998 hasConcept C151730666 @default.
• W3123519998 hasConcept C154945302 @default.
• W3123519998 hasConcept C158622935 @default.
• W3123519998 hasConcept C172707124 @default.
• W3123519998 hasConcept C203479927 @default.
• W3123519998 hasConcept C2775924081 @default.
• W3123519998 hasConcept C2778072542 @default.
• W3123519998 hasConcept C2779343474 @default.
• W3123519998 hasConcept C2781355719 @default.
• W3123519998 hasConcept C3031470 @default.
• W3123519998 hasConcept C33923547 @default.
• W3123519998 hasConcept C41008148 @default.
• W3123519998 hasConcept C47446073 @default.
• W3123519998 hasConcept C62520636 @default.
• W3123519998 hasConcept C6557445 @default.
• W3123519998 hasConcept C85736874 @default.
• W3123519998 hasConcept C86803240 @default.
• W3123519998 hasConcept C97355855 @default.
• W3123519998 hasConceptScore W3123519998C105795698 @default.
• W3123519998 hasConceptScore W3123519998C117251300 @default.
• W3123519998 hasConceptScore W3123519998C120665830 @default.
• W3123519998 hasConceptScore W3123519998C121332964 @default.
• W3123519998 hasConceptScore W3123519998C127413603 @default.
• W3123519998 hasConceptScore W3123519998C133731056 @default.
• W3123519998 hasConceptScore W3123519998C144171764 @default.
• W3123519998 hasConceptScore W3123519998C151730666 @default.
• W3123519998 hasConceptScore W3123519998C154945302 @default.
• W3123519998 hasConceptScore W3123519998C158622935 @default.
• W3123519998 hasConceptScore W3123519998C172707124 @default.
• W3123519998 hasConceptScore W3123519998C203479927 @default.
• W3123519998 hasConceptScore W3123519998C2775924081 @default.
• W3123519998 hasConceptScore W3123519998C2778072542 @default.
• W3123519998 hasConceptScore W3123519998C2779343474 @default.
• W3123519998 hasConceptScore W3123519998C2781355719 @default.
• W3123519998 hasConceptScore W3123519998C3031470 @default.
• W3123519998 hasConceptScore W3123519998C33923547 @default.
• W3123519998 hasConceptScore W3123519998C41008148 @default.
• W3123519998 hasConceptScore W3123519998C47446073 @default.
• W3123519998 hasConceptScore W3123519998C62520636 @default.
• W3123519998 hasConceptScore W3123519998C6557445 @default.
• W3123519998 hasConceptScore W3123519998C85736874 @default.
• W3123519998 hasConceptScore W3123519998C86803240 @default.
• W3123519998 hasConceptScore W3123519998C97355855 @default.
• W3123519998 hasFunder F4320334593 @default.
• W3123519998 hasLocation W31235199981 @default.
• W3123519998 hasOpenAccess W3123519998 @default.
• W3123519998 hasPrimaryLocation W31235199981 @default.
• W3123519998 hasRelatedWork W1897769514 @default.
• W3123519998 hasRelatedWork W200465068 @default.
• W3123519998 hasRelatedWork W2099458592 @default.
• W3123519998 hasRelatedWork W2139553966 @default.
• W3123519998 hasRelatedWork W2157091192 @default.
• W3123519998 hasRelatedWork W2522394112 @default.

• next