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

Emre Sariyildiz, Haoyong Yu, Takahiro Nozaki, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ619-624
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10 242016 10 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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