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Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations.

Zhao Guo1,2, Jiantao Sun1, Jie Ling1

  • 1School of Power and Mechanical Engineering, Wuhan University, Wuhan, China.

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|July 2, 2019
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Summary
This summary is machine-generated.

This study introduces a novel non-linear disturbance observer (NDOB)-based composite control for Variable Stiffness Actuators (VSAs). The approach enhances robot compliance and robustness against model uncertainties and external disturbances.

Keywords:
compliant actuatorcomposite controlfeedback linearizationmodel perturbationsnonlinear disturbance observervariable stiffness actuator

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Area of Science:

  • Robotics
  • Control Systems Engineering

Background:

  • Variable Stiffness Actuators (VSAs) are crucial for developing compliant robots.
  • Controlling VSAs is challenging due to model perturbations like parametric uncertainties and external disturbances.

Purpose of the Study:

  • To propose a non-linear disturbance observer (NDOB)-based composite control approach for VSAs.
  • To enhance the control of both stiffness and position in VSAs under model perturbations.

Main Methods:

  • A novel modeling method to analyze VSA dynamics under complex perturbations (parameter uncertainties, external disturbances, flexible deflection).
  • A novel composite controller integrating feedback linearization with NDOB for improved tracking accuracy and robustness.

Main Results:

  • The proposed NDOB-based composite control effectively manages VSA stiffness and position under perturbations.
  • Enhanced tracking accuracy and robustness against uncertainties were achieved.

Conclusions:

  • The NDOB-based composite control approach is effective for VSAs operating under model perturbations.
  • The method offers improved performance and robustness for compliant robotic systems.