Backstepping Control

Ling Zhao; Yuanqing Xia; Hongjiu Yang; Jinhui Zhang

doi:10.1007/978-981-16-9515-5_14

Backstepping Control

Ling Zhao^*, Yuanqing Xia, Hongjiu Yang, Jinhui Zhang

^*此作品的通讯作者

自动化学院

Tianjin University

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

摘要

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.

源语言	英语
主期刊名	Advances in Industrial Control
出版商	Springer Science and Business Media Deutschland GmbH
页	179-193
页数	15
DOI	https://doi.org/10.1007/978-981-16-9515-5_14
出版状态	已出版 - 2022

出版系列

姓名	Advances in Industrial Control
ISSN（印刷版）	1430-9491
ISSN（电子版）	2193-1577

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10.1007/978-981-16-9515-5_14

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Zhao, L., Xia, Y., Yang, H., & Zhang, J. (2022). Backstepping Control. 在 Advances in Industrial Control (页码 179-193). (Advances in Industrial Control). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-16-9515-5_14

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Backstepping Control

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