Continuous finite-time output torque control approach for series elastic actuator

Mingyang Li
Mingyang Li
Meng Wang
Meng Wang
Wei Yin
Wei Yin

Mechanical Systems and Signal Processing, pp. 1058532020.

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Abstract:

•The torque generated by SEA could converge to desired torque in finite time.•FT-OFC implied excellent transient performance.•Output feedback and continuous expression made it more suitable for the HRI systems.•The control performance in various interaction situations was satisfactory.

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