Stiffness control on Cable-driven SEA Zd = 0.3Ks
0.0116Maximal Tracking Error (Nm)H∞ synthesis with 3rd-order controller
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| H∞ synthesis with 3rd-order controllerDesired Stiffness=0.3Ks2019.03 | 0.0116 | 0.8262 | 15.6 | 15.8 | |
| Passivity-based PIDDesired Stiffness=0.3Ks2019.03 | 0.0143 | 1.597 | 19.4 | 13.2 |