Robust output-feedback torque controller design for series elastic actuators and its application in multi-level control frameworks.

ISA Transactions
Jilong WangJie Zhao

Abstract

Robust output-feedback torque controller is developed for series elastic actuators (SEAs) in the presence of parameter uncertainties and external disturbances. The strong robustness of the proposed controller results from the filter-based observer which can estimate the velocity signals and the system lumped disturbance. The dynamic surface method is adopted to make the time-domain controller independent of any derivatives of the command reference, making the torque controller an ideal building block for multi-level control frameworks. The semiglobal stability of the closed-loop control system is proven under the assumption that only the state-independent uncertainty is bounded. The experimental results verify the effectiveness of the torque controller, and the implementation of two-level control frameworks, including the impedance control and SEA's load position control, further demonstrates its wide applicability.

References

Mar 13, 2009·ISA Transactions·Nemat Ollah Ghahramani, Farzad Towhidkhah
Oct 13, 2018·ISA Transactions·Kaixian BaXiangdong Kong
Feb 8, 2021·ISA Transactions·Keqi Mei, Shihong Ding

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