Closed-Loop Variable Stiffness Control of Dynamical Systems

2021 ◽  
Author(s):  
Xiao Chen ◽  
Youssef Michel ◽  
Dongheui Lee
Keyword(s):  
Dynamical Systems ◽  
Closed Loop ◽  
Variable Stiffness ◽  
Stiffness Control

Oscillations-Induced Transitions and Their Application in Control of Dynamical Systems

1990 ◽  
Vol 112 (3) ◽  
pp. 313-319 ◽  
Author(s):  
J. Bentsman
Keyword(s):  
Dynamical Systems ◽  
Parabolic Equations ◽  
Closed Loop ◽  
Distributed Parameter ◽  
Control Laws ◽  
Loop Control ◽  
Finite Dimensional ◽  
Analytical Tools ◽  
Semilinear Parabolic ◽  
Qualitative Changes

Studies of the use of oscillations for control purposes continue to reveal new practically important properties unique to the oscillatory open and closed loop control laws. The goal of this paper is to enlarge the available set of analytical tools for such studies by introducing a method of analysis of the qualitative changes in the behavior of dynamical systems caused by the zero mean parametric excitations. After summarizing and slightly refining a technique developed previously for the finite dimensional nonlinear systems, we consider an extension of this technique to a class of distributed parameter systems (DPS) governed by semilinear parabolic equations. The technique presented is illustrated by several examples.

scholarly journals Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator

2019 ◽  
Vol 1 (2) ◽  
pp. 80-97
Author(s):  
Jesus H Lugo
Keyword(s):  
Control Method ◽  
Variable Stiffness ◽  
Industrial Processes ◽  
Revolute Joint ◽  
Additional Information ◽  
Physical Prototype ◽  
Stiffness Control ◽  
Variable Stiffness Actuator ◽  
Control Fluid ◽  
And Control

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

Variable stiffness control of series elastic actuated biped locomotion

2018 ◽  
Vol 11 (3) ◽  
pp. 225-235 ◽  
Author(s):  
Jianwen Luo ◽  
Shuguo Wang ◽  
Ye Zhao ◽  
Yili Fu
Keyword(s):  
Variable Stiffness ◽  
Biped Locomotion ◽  
Stiffness Control ◽  
Series Elastic

Variable stiffness control for SEAs in rehabilitation training

2019 ◽  
Vol 33 (7-8) ◽  
pp. 424-438 ◽  
Author(s):  
Siqi Li ◽  
Jian Li ◽  
Guihua Tian ◽  
Hongcai Shang
Keyword(s):  
Variable Stiffness ◽  
Rehabilitation Training ◽  
Stiffness Control
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