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• W3170492726 abstract "Robust output-feedback torque controller is developed for series elastic actuators (SEAs) in the presence of parameter uncertainties and external disturbances. The strong robustness of the proposed controller results from the filter-based observer which can estimate the velocity signals and the system lumped disturbance. The dynamic surface method is adopted to make the time-domain controller independent of any derivatives of the command reference, making the torque controller an ideal building block for multi-level control frameworks. The semiglobal stability of the closed-loop control system is proven under the assumption that only the state-independent uncertainty is bounded. The experimental results verify the effectiveness of the torque controller, and the implementation of two-level control frameworks, including the impedance control and SEA's load position control, further demonstrates its wide applicability." @default.
• W3170492726 created "2021-06-22" @default.
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• W3170492726 date "2022-04-01" @default.
• W3170492726 modified "2023-10-18" @default.
• W3170492726 title "Robust output-feedback torque controller design for series elastic actuators and its application in multi-level control frameworks" @default.
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• W3170492726 doi "https://doi.org/10.1016/j.isatra.2021.05.035" @default.
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