Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

Wei Yin; Lei Sun; Meng Wang; Jingtai Liu

doi:10.1109/JAS.2019.1911498

Volume 6 Issue 3

May 2019

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(3): 850-585

Wei Yin, Lei Sun, Meng Wang and Jingtai Liu, "Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design," IEEE/CAA J. Autom. Sinica, vol. 6, no. 3, pp. 850-858, May 2019. doi: 10.1109/JAS.2019.1911498

Citation:

Wei Yin, Lei Sun, Meng Wang and Jingtai Liu, "Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design," IEEE/CAA J. Autom. Sinica, vol. 6, no. 3, pp. 850-858, May 2019. doi: 10.1109/JAS.2019.1911498

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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

doi: 10.1109/JAS.2019.1911498

Institute of Robotics and Automatic Information System, Nankai University, and also with Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300350, China

Funds:

the National Natural Science Foundation of China 61573198

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Author Bio:
Wei Yin is a Ph.D. candidate at Nankai University. He received the B.S. degree in intelligent science and technology from Nankai University, Tianjin, China, in 2013. He is currently working toward his Ph.D. degree in control science and control engineering at 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)

Lei Sun (M'11) 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 at the College of Computer and Control Engineering. His research interests include robotics and automatic control, teleoperation of robots in networks, wireless sensor networks, and micro-electro-mechanical systems (MEMS). Corresponding author of this paper. (e-mail: sunl@nankai.edu.cn)

Meng Wang is a 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 his Ph.D. degree in control theory and control engineering at the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China. His research interests include flexiblejoint robots and nonlinear control. (e-mail: wmkevin@mail.nankai.edu.cn)

Jingtai Liu (M'09) 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 networks, and microelectro-mechanical systems (MEMS). (e-mail: liujt@nankai.edu.cn)
Corresponding author: Lei Sun, e-mail: sunl@nankai.edu.cn
Received Date: 2017-07-28
Revised Date: 2017-11-08
Accepted Date: 2018-01-09

Abstract

Abstract

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.
- Feedback linearization (FL),
- global sliding mode (GSM),
- position control,
- series elastic actuator (SEA)

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References(34)

References

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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

doi: 10.1109/JAS.2019.1911498

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