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Decoupled robust backstepping tracking control for variable stiffness actuated robot with input saturation.

Chen Ji1, Zhongqiang Zhang2, Guanggui Cheng2

  • 1School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China; State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150000, China; Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China.

ISA Transactions
|November 7, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces robust controllers for variable stiffness actuators, enhancing robotic energy efficiency. The novel approach ensures precise control of position and stiffness, even with dynamic variations and disturbances.

Keywords:
Anti-windup compensationCommand filtered backstepping controlDisturbance observerVariable stiffness actuator

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Variable stiffness actuators (VSAs) are crucial for robotic energy efficiency due to their energy storage capabilities.
  • Controlling the nonlinear and coupled dynamics of VSAs, especially with rapid stiffness changes, presents significant challenges.
  • Actuator torque saturation due to elastic element limitations can negatively impact control performance.

Purpose of the Study:

  • To develop decoupled and robust controllers for precise position and stiffness tracking in variable stiffness actuated robots.
  • To address challenges associated with highly dynamic stiffness variations and system nonlinearities.
  • To improve the energy efficiency and performance of robotic systems through advanced control strategies.

Main Methods:

  • Proposed decoupled and robust command filtered backstepping tracking controllers for position and stiffness.
  • Introduced a disturbance observer to estimate lumped disturbances from unmodeled dynamics and errors.
  • Incorporated anti-windup compensation to mitigate the effects of input control torque saturation.

Main Results:

  • The composite controller, integrating command filtered backstepping, disturbance observers, and anti-windup, ensures system stability.
  • Demonstrated effective tracking control performance for multi-degree-of-freedom (multi-DoF) variable stiffness actuated robots via simulations.
  • The proposed methods effectively handle coupled nonlinearities and dynamic stiffness variations.

Conclusions:

  • The developed composite control strategy provides a stable and robust solution for controlling variable stiffness actuators.
  • The approach significantly enhances the tracking accuracy for both position and stiffness in complex robotic systems.
  • This work contributes to achieving human-like energy efficiency in robots through advanced control of VSAs.