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A comparison study on observer-based force control of series elastic actuators

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dc.contributor.authorKansızoğlu, Ahmet Talha
dc.contributor.authorSariyildiz, E.
dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.departmentMechanical Engineering
dc.contributor.ozuauthorUĞURLU, Regaip Barkan
dc.contributor.ozugradstudentKansızoğlu, Ahmet Talha
dc.date.accessioned2020-05-27T09:32:28Z
dc.date.available2020-05-27T09:32:28Z
dc.date.issued2018
dc.description.abstractThis paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected inertia and safety. However, the robustness to the modeling uncertainties and external disturbances is still a study material for researchers. It is known that when model-based control methods are used with disturbance observers, high precision tracking results can be obtained. Therefore, in this study, model predictive control and model-based feedforward control methods are investigated in different scenarios and simulation results are provided for comparison.en_US
dc.description.sponsorshipTÜBİTAK
dc.description.versionPost print
dc.identifier.doi10.1109/AMC.2019.8371128en_US
dc.identifier.endpage416en_US
dc.identifier.isbn978-153861946-9
dc.identifier.scopus2-s2.0-85048748878
dc.identifier.startpage411en_US
dc.identifier.urihttp://hdl.handle.net/10679/6595
dc.identifier.urihttps://doi.org/10.1109/AMC.2019.8371128
dc.identifier.wos000436348700064
dc.language.isoengen_US
dc.publicationstatusPublisheden_US
dc.publisherIEEEen_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/1001 - Araştırma/116C014
dc.relation.ispartof2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)
dc.relation.publicationcategoryInternational
dc.rightsopenAccess
dc.subject.keywordsSeries elastic actuatoren_US
dc.subject.keywordsRobustnessen_US
dc.subject.keywordsForce controlen_US
dc.titleA comparison study on observer-based force control of series elastic actuatorsen_US
dc.typeconferenceObjecten_US
dspace.entity.typePublication
relation.isOrgUnitOfPublicationdaa77406-1417-4308-b110-2625bf3b3dd7
relation.isOrgUnitOfPublication.latestForDiscoverydaa77406-1417-4308-b110-2625bf3b3dd7

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