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Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations
Variable Stiffness Actuators (VSAs) have been introduced to develop new-generation compliant robots. However, the control of VSAs is still challenging because of model perturbations such as parametric uncertainties and external disturbances. This paper proposed a non-linear disturbance observer (NDO...
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| Publicado no: | Front Neurorobot |
|---|---|
| Main Authors: | , , , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
Frontiers Media S.A.
2019
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6588030/ https://ncbi.nlm.nih.gov/pubmed/31258472 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/fnbot.2019.00035 |
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