Composite tracking control of variable stiffness actuators based on disturbance observer
As one of the key technologies for the development of a new generation of compliant robots,the design of variable stiffness actuator(VSA)controllers is still facing challenges due to parametric uncertainty and external disturbance in its models.To solve the problem,a composite control method based on nonlinear disturbance observer(NDOB)is proposed to control the stiffness and position of VSA under model disturbance.Compared with the existing nonlinear control methods for VSA,the most significant advantages of the composite tracking control method based on NDOB lie in two aspects:a new modeling method is introduced for analyzing the dynamics of VSA in complex perturbations such as model parameter uncertainty,external disturbance and elastic deformation;a composite control method based on feedback linearization and NDOB is proposed to improve the actuator tracking accuracy and increase the robustness of the actuator against un-certainties.Both simulation and physical prototype tests verify the effectiveness of the proposed control method.
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万方数据
维普
