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

^*Corresponding author for this work

School of Automation

Tianjin University

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

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.

Original language	English
Title of host publication	Advances in Industrial Control
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	179-193
Number of pages	15
DOIs	https://doi.org/10.1007/978-981-16-9515-5_14
Publication status	Published - 2022

Publication series

Name	Advances in Industrial Control
ISSN (Print)	1430-9491
ISSN (Electronic)	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. In Advances in Industrial Control (pp. 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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AU - Yang, Hongjiu

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Backstepping Control

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