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Data-Driven Position and Stiffness Control of Antagonistic Variable Stiffness Actuator Using Nonlinear Hammerstein Models

In this paper, an optimal PID controller is introduced for an antagonistic variable stiffness actuator (AVSA) based on Hammerstein models. A set of Hammerstein models is developed for the AVSA using the voltage difference method. For each stiffness level, linear and nonlinear Hammerstein models are...

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Главные авторы: Ali Javadi, Hamed Haghighi, Khemwutta Pornpipatsakul, Ronnapee Chaichaowarat
Формат: Artigo
Язык:Inglês
Опубликовано: MDPI AG 2024-04-01
Серии:Journal of Sensor and Actuator Networks
Предметы:
compliant actuator
antagonistic variable stiffness actuator
identification
Hammerstein models
genetic algorithm
Online-ссылка:https://www.mdpi.com/2224-2708/13/2/29
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