Robust gain-scheduled control of variable stiffness actuators

Robust Fuzzy Gain-Scheduled Control of the 3-Phase IPMSM

This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...

robust fuzzy gain-scheduled control of the 3-phase ipmsm

this article presents a fuzzy robust mixed - sensitivity gain - scheduled h controller based on the loop -shaping methodology for a class of mimo uncertain nonlinear time - varying systems. in order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by takagi and sugeno’s (t - s) fuzzy approach. both loop - shaping methodology and...

Optimal Control of Variable Stiffness Actuators with Nonlinear Springs

Variable Stiffness Actuators (VSA) are currently being regarded as promising actuator types in robotics research especially due to their capability to store potential energy in their elastic elements and to control this energy by altering the elastic properties of these elements. The controllable potential energy enables these actuators to outperform their rigid counterparts especially when rea...

Robust Control Design of Gain-scheduled Controllers for Nonlinear Processes

Variable Stiffness Actuators for Fast and Safe Motion Control

In this paper we propose Variable Stiffness actuation [1] as a viable mechanical/control co–design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial mo...