外乱オブザーバとスライディングモード制御による直列弾性アクチュエータのロバスト力・位置制御
A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators
直列弾性アクチュエータの力制御と位置制御を、外乱オブザーバとスライディングモード制御を組み合わせた新しいロバスト制御器で実現し、未知の動的環境への安全な接触と高精度な軌道追従を実験で示した論文。
著者: Emre Sariyildiz, Rahim Mutlu, Haoyong Yu
分類: cs.RO
原文アブストラクト
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of a Series Elastic Actuator is of fourth-order and includes matched and mismatched disturbances. In other words, a Series Elastic Actuator's position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for Series Elastic Actuators by using Disturbance Observer and Sliding Mode Control. When the proposed robust motion controller is implemented, a Series Elastic Actuator can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of the actuator and environment. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids and exoskeletons. The validity of the motion controller is experimentally verified.
