Passivity-Based Twisting Sliding Mode Control for Series Elastic Actuators
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DOI: 10.3390/act14020087
Abstract: This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking control problem in SEAs, a fourth-order dynamic model is developed to accurately… read more here.
Keywords: based twisting; passivity based; control; twisting sliding ... See more keywords