Position control of a series elastic actuator based on global sliding mode controller design

A series elastic actuator ( SEA ) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper, an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization ( FL ) and global sliding mode ( GSM ) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme.