An Approach of Load-Side Disturbance Rejection Control for Series Elastic Actuators

被引：0

作者：

Hiraoka, Atsushi ^{[1
]}

Murakami, Toshiyuki ^{[2
]}

机构：

[1] Keio Univ, Grad Sch Sci & Engn, Yokohama, Kanagawa, Japan

[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa, Japan

来源：

2022 IEEE 17TH INTERNATIONAL CONFERENCE ON ADVANCED MOTION CONTROL (AMC) | 2022年

关键词：

Series elastic actuator (SEA); load-side disturbance rejection; resonance ratio control (RRC); load-side disturbance observer (LDOB); physical human-robot interaction (pHRI); ROBUST;

D O I：

10.1109/AMC51637.2022.9729257

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a load-side disturbance rejection method to deal with time-varying load-side disturbance for series elastic actuators (SEA). In the position control of SEA, load-side disturbance rejection problem is not trivial. As a conventional method, load disturbance observer (LDOB) was proposed to feedback the estimated load-side disturbance. However, this method does not fully deal with large and time-varying load-side disturbance caused by human contact. In this paper, we propose an extension of LDOB algorithm to estimate the derivative of the load-side disturbance. Feedback of the derivative of estimated load-side disturbance can improve the load-side disturbance rejection performance. The numerical simulation and the experiment results show the effectiveness of the proposed method.

引用

页码：18 / 23

页数：6

共 50 条

[1] Load-side acceleration control based on load-side velocity disturbance observer for geared actuator
Kawai, Yusuke
Yokokura, Yuki
Ohishi, Kiyoshi
Shinozaki, Taiga
[J]. ADVANCED ROBOTICS, 2023, 37 (10) : 634 - 648
[2] Active disturbance rejection control of a microgrid load-side interface converter based on a DDPG algorithm
Zhou, Xuesong
Zhang, Xinru
Zhao, Hanyu
Wang, Bo
Zhao, Ming
Wen, Hulong
[J]. Dianli Xitong Baohu yu Kongzhi/Power System Protection and Control, 2023, 51 (21): : 66 - 75
[3] A DOB-based Parameter Identification method for Series Elastic Actuators without Load-side Encoder
Petrea, Razvan Andrei Budau
Oboe, Roberto
[J]. 2022 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2022, : 1755 - 1762
[4] Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators
Lee, Hyunwook
Ryu, Jee-Hwan
Lee, Jinoh
Oh, Sehoon
[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (01) : 871 - 881
[5] Voltage Stabilization Strategy for Load-Side Interface Converter of Microgrid Combined with Active Disturbance Rejection Control
Tao, Long
Wang, Ping
Wang, Yifeng
Ma, Xiaoyong
Cheng, Pengyu
[J]. Diangong Jishu Xuebao/Transactions of China Electrotechnical Society, 2022, 37 (08): : 2076 - 2085
[6] Serial Elastic Actuators Torque Control Approach Based on Active Disturbance Rejection Control
Li, Xiangyu
Xu, Bangjie
Yao, Jin
Tang, Qing
[J]. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 4365 - 4370
[7] An Active Disturbance Rejection Controller Design for the Robust Position Control of Series Elastic Actuators
Sariyildiz, Emre
Chen, Gong
Yu, Haoyong
[J]. 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 266 - 272
[8] External Force Estimation in Linear Series Elastic Actuator Without Load-Side Encoder
Yokoyama, Minoru
Petrea, Razvan Andrei Budau
Oboe, Roberto
Shimono, Tomoyuki
[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (01) : 861 - 870
[9] Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators
DeBoon, Brayden
Nokleby, Scott
Rossa, Carlos
[J]. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 6183 - 6189
[10] Decoupled Torque Control of Series Elastic Actuator With Adaptive Robust Compensation of Time-Varying Load-Side Dynamics
Lin, Yinjie
Chen, Zheng
Yao, Bin
[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (07) : 5604 - 5614

← 1 2 3 4 5 →