Name
Abstract | ||
|---|---|---|
This paper is concerned with the design of a state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness. The controller does not assume knowledge of the actual system dynamics nor does it utilize approximating structures (e.g., neural networks and fuzzy systems) to acquire such knowledge, leading to a low complexity design. Simulation studies, incorporating a model validated on data from an actual variable stiffness actuator (VSA) at a multi-degrees-of-freedom robot, are performed. Comparison with a gain scheduling solution reveals the superiority of the proposed scheme with respect to performance and robustness. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/TCST.2015.2394748 | Control Systems Technology, IEEE Transactions |
Keywords | Field | DocType |
Joints,Actuators,Propagation losses,Damping,Manipulators,Closed loop systems | Control theory,Stiffness,Control theory,Gain scheduling,Robustness (computer science),Control engineering,System dynamics,Artificial intelligence,Fuzzy control system,Robot,Mathematics,Robotics | Journal |
Volume | Issue | ISSN |
PP | 99 | 1063-6536 |
Citations | PageRank | References |
9 | 0.49 | 25 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Psomopoulou, E. | 1 | 14 | 1.26 |
| Achilles Theodorakopoulos | 2 | 60 | 3.49 |
| Zoe Doulgeri | 3 | 332 | 47.11 |
| George A. Rovithakis | 4 | 581 | 52.21 |