Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design |
| |
| Wei Yin, Lei Sun, Meng Wang and Jingtai Liu, "Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design," IEEE/CAA J. Autom. Sinica, vol. 6, no. 3, pp. 850-858, May 2019. doi: 10.1109/JAS.2019.1911498 |
| |
| Authors: | Wei Yin Lei Sun Meng Wang Jingtai Liu |
| |
| Affiliation: | Institute of Robotics and Automatic Information System, Nankai University, and also with Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300350, China |
| |
| Abstract: | A series elastic actuator (SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper, an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization (FL) and global sliding mode (GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme. |
| |
| Keywords: | Feedback linearization (FL) global sliding mode (GSM) position control series elastic actuator (SEA) |
|
| 点击此处可从《IEEE/CAA Journal of Automatica Sinica》浏览原始摘要信息 |
|
点击此处可从《IEEE/CAA Journal of Automatica Sinica》下载免费的PDF全文 |
