The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a practical control approach is suggested for series elastic actuators(SEAs) to generate the desired torque. Firstly, based on the analysis of a nonlinear SEA, the generic dynamics for a class of SEAs is summarized. Then the dynamic equations are transformed into a novel state-space form which is convenient for controller design. Finally, based on the recently developed finite-time...
Series Elastic Actuator (SEA) is a powerful device in the area of human-machine collaboration, but it still suffers from difficult position control issues, mainly because the variables and order of dynamics become twice that of the rigid one. Therefore, an efficient approach is proposed to solve this problem in this paper. The approach design is divided into two steps: feedback linearization (FL)...
This paper presents a practical control approach for series elastic actuators(SEAs) to generate the desired torque. Specifically, the controller is applicable to both linear and nonlinear SEAs and it works well even in the presence of unknown payload parameters and external disturbances. Via the analysis and transformation of the SEA dynamics, a lumped disturbance signal is constructed and a form...
A delay-dependent functional observer is designed for linear time-invariant (LTI) systems with time-varying input delay. Compared to delay-free observers, delay-dependent functional observers are less conservative and cover more systems. The designed functional observer is with minimum possible order (minimal). Necessary and sufficient conditions of the existence of the observer and asymptomatic stability...
This paper deals with the practical aspects of reduced-order distributed functional state observers design for interconnected linear systems subject to time delays in the interconnections. Contrary to some estimation strategies which only take the ideal instantaneous output information into account, the proposed scheme incorporates output information that is inevitably encountered with time delays...
This paper considers the design of reduced — order distributed functional observers for interconnected linear systems with the presence of time delays in the interconnections. Unlike observers which consider only the ideal non-delayed output information transfer, the proposed observer is capable of dealing with delayed output information from geographically separated subsystems. It is shown that by...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.