Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System

Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system.