Passivity-Based Twisting Sliding Mode Control for Series Elastic Actuators

This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking control problem in SEAs, a fourth-order dynamic model is developed to accurately characterize the system. The control fra...

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Bibliographic Details

Published in:	Actuators
Main Authors:	Hui Zhang, Jilong Wang, Lei Zhang, Shijie Zhang, Jing Zhang, Zirong Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2025-02-01
Subjects:	series elastic actuators twisting sliding mode internal loop control external loop control finite time
Online Access:	https://www.mdpi.com/2076-0825/14/2/87