Sliding Mode Control Proposal for Non-Linear UT-SEA System
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Abstract
Sliding mode control (SMC) offers an innovative alternative in control design by providing mechanisms to cope with unknown but bounded modeling uncertainties and disturbances, both inside and outside a system. This paper presents a sliding mode control proposal for the UT-SEA system, which is a series variable impedance actuator and exhibits a combination of linear and nonlinear system. The work focuses on the study of the system by applying linear and nonlinear control techniques, as well as obtaining the necessary parameters through simulations, along with the identification of the best control method, which is subsequently applied to the actual UT-SEA system. Finally, the proposed SMC demonstrates robust performance against disturbances with a simple and easy to implement method. In simulation tests, the SMC shows an improved steady-state behavior, completely eliminating the error.
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