IEEE - Institute of Electrical and Electronics Engineers, Inc. - Continuous finite-time control approach for series elastic actuator

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Meng Wang ; Lei Sun ; Wei Yin ; Shuai Dong ; Jingtai Liu
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 843 - 848
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7798372
Regular:

In this paper, a practical control approach is suggested for series elastic actuators(SEAs) to generate the desired torque. Firstly, based on the analysis of a nonlinear SEA, the generic dynamics... View More

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