Continuous Robust Control for Series ElasticActuator With Unknown Payload Parametersand External Disturbances

Meng Wang; Lei Sun; Wei Yin; Shuai Dong; Jingtai Liu

doi:10.1109/JAS.2017.7510610

Volume 4 Issue 4

Oct. 2017

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2017 > 4(4): 620-627

Meng Wang, Lei Sun, Wei Yin, Shuai Dong and Jingtai Liu, "Continuous Robust Control for Series Elastic Actuator With Unknown Payload Parameters and External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 620-627, Oct. 2017. doi: 10.1109/JAS.2017.7510610

Citation:

Meng Wang, Lei Sun, Wei Yin, Shuai Dong and Jingtai Liu, "Continuous Robust Control for Series Elastic Actuator With Unknown Payload Parameters and External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 620-627, Oct. 2017. doi: 10.1109/JAS.2017.7510610

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Continuous Robust Control for Series ElasticActuator With Unknown Payload Parametersand External Disturbances

doi: 10.1109/JAS.2017.7510610

Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China

Funds:

National Natural Science Foundation of China 61573198

the National High-tech R&D Program of China (863 Program) 2012AA041403

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Author Bio:
Meng Wang is Ph.D. candidate at Nankai University. He received the B.S. degree in intelligent science and technology from Nankai University, Tianjin, China, in 2012. He is currently working toward the Ph.D. degree in control theory and control engineering in the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China. His research interests include flexiblejoint robot and nonlinear control. (e-mail: wmkevin@mail.nankai.edu.cn)

Lei Sun is an Associate Professor at Nankai University. He received the B.E. and M.S. degrees in industry automation from Tianjin University, China, in 1999 and 2002, and the Ph.D. degree in control theory and control engineering from Nankai University, China, in 2005. In 2005, he joined Nankai University, where he is currently an Associate Professor in the College of Computer and Control Engineering. His research interests include robotics and automatic control, teleoperation of robots in networks, wireless sensor network, micro-electro-mechanical systems. (e-mail: sunl@nankai.edu.cn)

Wei Yin is a Ph.D. candidate at Nankai University. He received the B.S. degree in intelligent science and techonology from Nankai University, Tianjin, China, in 2013. He is currently working toward the Ph.D. degree in control science and control engineering in the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China. His research interests include motion control of robotics and control of series elastic actuators. (e-mail: blackbirdontree@163.com)

Shuai Dong is a M.S. student at Nankai University. He received the B.S. degree in electrical automation from Hangzhou Dianzi University, Zhejiang, China, in 2014. He is currently working toward the M.S. degree in control science and control engineering in the institute of robotics and automatic information System, Nankai University, Tianjin, China. His research interests include servo control and AGVs. (e-mail: dongsh@mail.nankai.edu.cn)

Jingtai Liu is a Professor at Nankai University. He received the B.E. and M.S. degree in automation from Tianjin University, China in 1983 and 1986, and the Ph.D. degree in robotics from Nankai University, China in 1998. His research interests include robotics and automatic control, teleoperation of robots in networks, wireless sensor network, microelectro-mechanical systems (MEMS). (e-mail: liujt@nankai.edu.cn)
Corresponding author: Lei Sun, e-mail:sunl@nankai.edu.cn
Received Date: 2015-05-30
Accepted Date: 2016-09-11

Abstract

Abstract

In this paper, the torque tracking control problem for a class of series elastic actuators (SEAs) in the presence of unknown payload parameters and external disturbances is investigated. The uncertainties/disturbances rejection problem for SEAs is addressed from the view of a continuous nonlinear robust control development. Specifically, based on the analysis of a nonlinear SEA, the generic dynamics of SEA systems is described and a novel nonlinear control framework for SEAs is constructed. Then a RISE (robust integral of the sign of the error)-based second-order filter is introduced to synthesize the control law. Moreover, the control performance is theoretically ensured by Lyapunov analysis. Finally, some experimental results are included to demonstrate the superior performance of the proposed control method, in terms of transient response and robustness.
- Nonlinear robust control,
- torque control,
- series elastic actuator

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References(36)

References

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Continuous Robust Control for Series ElasticActuator With Unknown Payload Parametersand External Disturbances

doi: 10.1109/JAS.2017.7510610

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