Constrained fast point-to-point control of a visco-elastic actuator

  • Lu Lu, Cong Wang
  • Published 2016 in
    2016 International Symposium on Flexible…


In this paper, we develop a control algorithm for the point-to-point motion control of a visco-elastic servo to achieve both precision positioning and fast move while satisfying various physical constraints. The visco-elastic servo is modeled as two lumped masses connected by a spring and a damper The control input is the actuation applied on one mass and… (More)


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