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Volume 6 Issue 3
May  2019

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Wei Yin, Lei Sun, Meng Wang and Jingtai Liu, "Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design," IEEE/CAA J. Autom. Sinica, vol. 6, no. 3, pp. 850-858, May 2019. doi: 10.1109/JAS.2019.1911498
Citation: Wei Yin, Lei Sun, Meng Wang and Jingtai Liu, "Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design," IEEE/CAA J. Autom. Sinica, vol. 6, no. 3, pp. 850-858, May 2019. doi: 10.1109/JAS.2019.1911498

Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

doi: 10.1109/JAS.2019.1911498
Funds:

the National Natural Science Foundation of China 61573198

More Information
  • 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 mode (GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.

     

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