Nonlinear Systems / Lg / C. Solutions / Johns Hopkins University Press / CRC Press / Rapidly Exponentially Stabilizing Control Lyapunov Functions / Embedded Systems / / /
Facility
Texas A&M University / R. Weir / /
IndustryTerm
contemporary force-controlled robot manipulator applications / motor control law / energy consumption / ε3r law / series-elastic actuator systems / motor-rotor torque control law / motor-torque control law / perturbed systems / energy efficiency / feedback control law / linear input/output dynamical systems / control law / /
NaturalFeature
OZ SEA / /
Organization
National Science Foundation / CNS1136104 / National Aeronautics and Space Administration / Texas A&M University / Johns Hopkins University / Texas Emerging Technology Fund / Department of Mechanical Engineering / /
Person
Because Or / Aaron D. Ames / Matthew J. Powell / /
Hierarchical Control of Series Elastic Actuators through Control Lyapunov Functions Matthew J. Powell and Aaron D. Ames Abstract— This paper addresses the control design problem of stabilizing both joint-angle and spri