Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer

Emre Sariyildiz, Haoyong Yu, Takahiro Nozaki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a new robust force controller is proposed for Series Elastic Actuators (SEAs) by using conventional Sliding Mode Control (SMC) and Disturbance Observer (DOb). The position measurement of the actuator's link is subtracted from the desired deflection of the spring so that the force control goal is defined as the desired position of the motor; i.e., the force control is simply performed by designing a position controller at motor side. However, the position accuracy of the motor is influenced by the dynamics of the actuator and environment. Since they cannot be easily identified in practice, the dynamics of the actuator's link and environment are considered as unknown disturbances in the design of the proposed controller. In order to improve the robustness, conventional SMC-based robust force controller is designed without considering the unknown disturbances. Although the robust force control can be theoretically performed by using the conventional SMC-based controller, it suffers from chattering in real implementations. Conventional DOb-based robust motion controller is designed at motor side so that not only the disturbances are cancelled by feeding-back their estimations but also the control signal of SMC-based robust force controller is lowered. Hence, a simple yet efficient robust force controller is designed for SEAs. The validity of the proposed robust force controller is verified by giving experimental results.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages619-624
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

Fingerprint

Force control
Sliding mode control
Robust control
Actuators
Controllers
Position measurement
Robustness (control systems)

Keywords

  • Disturbance Observer
  • Robust Force Control
  • Series Elastic Actuator
  • Sliding Mode Control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sariyildiz, E., Yu, H., Nozaki, T., & Murakami, T. (2016). Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 619-624). [7792991] IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7792991

Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer. / Sariyildiz, Emre; Yu, Haoyong; Nozaki, Takahiro; Murakami, Toshiyuki.

Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 619-624 7792991.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sariyildiz, E, Yu, H, Nozaki, T & Murakami, T 2016, Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer. in Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society., 7792991, IEEE Computer Society, pp. 619-624, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 16/10/24. https://doi.org/10.1109/IECON.2016.7792991
Sariyildiz E, Yu H, Nozaki T, Murakami T. Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society. 2016. p. 619-624. 7792991 https://doi.org/10.1109/IECON.2016.7792991
Sariyildiz, Emre ; Yu, Haoyong ; Nozaki, Takahiro ; Murakami, Toshiyuki. / Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer. Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. pp. 619-624
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