Stiffness control on Cable-driven SEA Zd = 0.6Ks
0.0055Maximal Tracking Error (Nm)H∞ synthesis with 3rd-order controller
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| H∞ synthesis with 3rd-order controllerDesired Stiffness=0.6Ks2019.03 | 0.0055 | 0.0561 | 11.2 | 13.9 | |
| H∞ synthesis-based PIDDesired Stiffness=0.6Ks2019.03 | 0.0065 | 0.1677 | 11.3 | 12.1 | |
| Passivity-based PIDDesired Stiffness=0.6Ks2019.03 | 0.0095 | 0.5241 | 14.9 | 10.2 |