SATURATION EFFECTS ON PERFORMANCE OF A COMPLIANT ACTUATOR FORCE CONTROL SYSTEM

机译：饱和力对兼容执行器力控制系统性能的影响

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A novel mechanism for changing the stiffness of a series elastic actuator over a wide range is briefly explained. The series elastic actuator's mathematical modeling, control method and physical limitations are addressed in this work as extension of our previous work. Two remaining issues of the previous work have been studied in this paper: 1- A new nonlinear compensator is developed to improve the force tracking performance of the actuator. 2- Performance of the control system is studied by substitution of the saturation operator with equivalent gain. Finally, simulations are performed to show the ability of the controller to track desired force commands.

机译：简要说明了一种在较大范围内改变串联弹性致动器刚度的新颖机制。该系列弹性致动器的数学建模，控制方法和物理局限性在本工作中得到了解决，作为我们先前工作的扩展。本文研究了先前工作的两个剩余问题：1-开发了一种新型非线性补偿器，以改善执行器的力跟踪性能。 2-通过用等效增益替换饱和算子来研究控制系统的性能。最后，进行仿真以显示控制器跟踪所需力命令的能力。

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来源
《DSC-vol.75-2; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20061105-10; Chicago,IL(US)》|2006年|P.925-932|共8页
会议地点 ChicagoIL(US)
作者
Reza Ghorbani; Qiong Wu;
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作者单位

Nonlinear Systems Research Laboratory Dept. of Mechanical and Manufacturing Engineering University of Manitoba Winnipeg, Manitoba R3T 2N2;

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原文格式 PDF
正文语种 eng
中图分类液压传动;自动控制、自动控制系统;
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1. The effect of actuator saturation on the performance of PD-controlled servo systems [J] . Michael Goldfarb, Taweedej Sirithanapipat Mechatronics: The Science of Intelligent Machines . 1999,第5期

机译：执行器饱和度对PD控制伺服系统性能的影响
2. Prescribed performance control of strict-feedback systems under actuation saturation and output constraint via event-triggered approach [J] . Cao Ye, Wen Changyun, Song Yongduan International Journal of Robust and Nonlinear Control . 2019,第18期

机译：通过事件触发方法在致动饱和度和输出约束下的严格反馈系统规定的性能控制
3. Fault-Tolerant Control for Discrete Linear Systems with Consideration of Actuator Saturation and Performance Degradation [J] . Z. Wang, M. Rodrigues, D. Theilliol, IFAC PapersOnLine . 2015,第21期

机译：考虑执行器饱和和性能下降的离散线性系统的容错控制
4. SATURATION EFFECTS ON PERFORMANCE OF A COMPLIANT ACTUATOR FORCE CONTROL SYSTEM [C] . Reza Ghorbani, Qiong Wu ASME International Mechanical Engineering Congress and Exposition . 2007

机译：饱和效应对柔顺的执行器力控制系统性能的影响
5. Intelligent control of nonlinear systems with actuator saturation using neural networks. [D] . Gao, Wenzhi. 2005

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7. Fault-Tolerant Control for Discrete Linear Systems with Consideration of Actuator Saturation and Performance Degradation ★ ★This work was partially supported by National Natural Science Foundation of China (Grant No. 61273162) and the Fundamental Research Funds for the Central Universities (Grant No. HIT.NSRIF.2015034). [O] . Z. Wang, M. Rodrigues, D. Theilliol, 2015

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SATURATION EFFECTS ON PERFORMANCE OF A COMPLIANT ACTUATOR FORCE CONTROL SYSTEM

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