Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Feedback control systems01:26

Feedback control systems

533
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
533
Open and closed-loop control systems01:17

Open and closed-loop control systems

1.2K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.2K
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

214
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
214
Controller Configurations01:22

Controller Configurations

203
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
203
PD Controller: Design01:26

PD Controller: Design

422
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
422
Torque Free Motion01:15

Torque Free Motion

620
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
620

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Rack1 mediates tyrosine phosphorylation of Anxa2 by Src and promotes invasion and metastasis in drug-resistant breast cancer cells.

Breast cancer research : BCR·2019
Same author

Rack1 mediates Src binding to drug transporter P-glycoprotein and modulates its activity through regulating Caveolin-1 phosphorylation in breast cancer cells.

Cell death & disease·2019
Same author

Dynamic Parameter Identification for a Manipulator with Joint Torque Sensors Based on an Improved Experimental Design.

Sensors (Basel, Switzerland)·2019
Same author

Juglone eliminates MDSCs accumulation and enhances antitumor immunity.

International immunopharmacology·2019
Same author

Visceral adipogenesis inhibited by Pref-1 is associated with peritoneal angiogenesis.

Nephrology (Carlton, Vic.)·2019
Same author

Spatial distribution of parabens, triclocarban, triclosan, bisphenols, and tetrabromobisphenol A and its alternatives in municipal sewage sludges in China.

The Science of the total environment·2019

Related Experiment Video

Updated: Nov 3, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.9K

Robust output-feedback torque controller design for series elastic actuators and its application in multi-level

Jilong Wang1, He Zhang1, Huijuan Dong1

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

ISA Transactions
|June 7, 2021
PubMed
Summary

A robust output-feedback torque controller for series elastic actuators (SEAs) ensures stability despite uncertainties. This controller, using a filter-based observer and dynamic surface method, is effective in multi-level control frameworks.

Keywords:
Filter-based observerMulti-level control frameworkOutput-feedback controllerSeries elastic actuators (SEAs)Torque control

More Related Videos

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

14.9K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.9K

Related Experiment Videos

Last Updated: Nov 3, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.9K
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

14.9K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.9K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Series Elastic Actuators (SEAs) are crucial in robotics for safe and compliant interaction.
  • Parameter uncertainties and external disturbances challenge the precise control of SEAs.
  • Existing controllers often struggle with robustness and adaptability in dynamic environments.

Purpose of the Study:

  • To develop a robust output-feedback torque controller for SEAs.
  • To enhance controller performance in the presence of parameter uncertainties and external disturbances.
  • To ensure the controller's suitability as a building block for advanced control architectures.

Main Methods:

  • A filter-based observer is employed to estimate velocity signals and system lumped disturbances.
  • The dynamic surface method is utilized to achieve a time-domain controller independent of reference derivatives.
  • Semiglobal stability of the closed-loop system is proven with bounded state-independent uncertainty.

Main Results:

  • The proposed controller demonstrates strong robustness against parameter uncertainties and external disturbances.
  • The filter-based observer effectively estimates critical system states and disturbances.
  • The dynamic surface method ensures a controller design suitable for hierarchical control.

Conclusions:

  • The developed output-feedback torque controller is robust and effective for SEAs.
  • The controller's design facilitates integration into complex, multi-level control systems.
  • Experimental validation confirms the controller's performance and broad applicability in robotics.