TY - CHAP
T1 - Backstepping Control
AU - Zhao, Ling
AU - Xia, Yuanqing
AU - Yang, Hongjiu
AU - Zhang, Jinhui
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - With the development of PAMs, control method for mechanisms of PAMs has been studied in more depth. A nonlinear PID-based antagonistic controller for positioning problems on PAMs has been designed in [1]. In order to improve performances of a compliant parallel ankle rehabilitation robot system, an impedance control strategy has been designed in [2]. However, these algorithms require accurate mathematical models which are obtained difficultly due to elastic forces of rubber, forces of friction, the end interface of PAMs, and other uncertain factors of PAM mechanisms.
AB - With the development of PAMs, control method for mechanisms of PAMs has been studied in more depth. A nonlinear PID-based antagonistic controller for positioning problems on PAMs has been designed in [1]. In order to improve performances of a compliant parallel ankle rehabilitation robot system, an impedance control strategy has been designed in [2]. However, these algorithms require accurate mathematical models which are obtained difficultly due to elastic forces of rubber, forces of friction, the end interface of PAMs, and other uncertain factors of PAM mechanisms.
UR - http://www.scopus.com/inward/record.url?scp=85125182933&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-9515-5_14
DO - 10.1007/978-981-16-9515-5_14
M3 - Chapter
AN - SCOPUS:85125182933
T3 - Advances in Industrial Control
SP - 179
EP - 193
BT - Advances in Industrial Control
PB - Springer Science and Business Media Deutschland GmbH
ER -