Stiffness control on Cable-driven SEA (Zd = 0)
0.0149Maximal Tracking Error (Nm)H∞ synthesis with 3rd-order controller
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| H∞ synthesis with 3rd-order controllerDesired Stiffness=02019.03 | 0.0149 | 1.4238 | 19.5 | 18.3 | |
| Passivity-based PIDDesired Stiffness=02019.03 | 0.0221 | 3.1702 | 24.6 | 16.2 |