Position control of a series elastic actuator based on global sliding mode controller design
IEEE/CAA Journal of Automatica Sinica, pp. 850-858, 2019.
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 mod...More
Full Text (Upload PDF)
PPT (Upload PPT)