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

Keyphrases

• Servo 100%
• Physical Constraints 100%
• Trajectory Tracking 100%
• Control Module 100%
• Elastic Actuator 100%
• Point-to-point Control 100%
• Design Objectives 50%
• Computationally Efficient 50%
• 4th Order 50%
• Easy-to-implement 50%
• Actuation 50%
• Analytical Solution 50%
• Control Algorithm 50%
• Control Input 50%
• Input Saturation 50%
• Desired Trajectory 50%
• Control Structure 50%
• Convergence Time 50%
• Phase Portrait 50%
• Orders Dynamics 50%
• Precision Points 50%
• Damper 50%
• Reference Trajectory 50%
• Trajectory Dynamics 50%
• State Transformation 50%
• Online Trajectory Generation 50%
• Input Transformation 50%
• Lumped Mass 50%
• Precision Positioning 50%
• Point-to-point Motion Control 50%
• Bang-bang 50%
• Hard Constraints 50%
• Mass Velocity 50%
• Dual Module 50%
• Full-state Feedback Controller 50%
• Velocity Saturation 50%

Engineering

• Physical Constraint 100%
• Control Module 100%
• Control Point 100%
• Design Objective 50%
• Actuation 50%
• Motion Control 50%
• Control Algorithm 50%
• Control Structure 50%
• Mass Velocity 50%
• Reference Trajectory 50%
• Lumped Mass 50%
• State Feedback Controller 50%
• Phase Portrait 50%
• Control Input 50%
• Convergence Time 50%