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A Unified Robust Motion Controller Design for Series Elastic Actuators

机译：串联弹性执行器的统一鲁棒运动控制器设计

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摘要

Series elastic actuators (SEAs) have several mechanical superiorities over conventional stiff and non-back-drivable actuators, e.g., lower reflected inertia at output, greater shock tolerance, low-cost force measurement, energy storage, safety, and so on. However, their applications generally suffer from performance limitations, particularly in position control, due to insufficient controller designs. This paper proposes a unified active disturbance rejection motion controller for the robust position and force control problems of SEAs by using differential flatness and disturbance observer. It can suppress not only matched but also mismatched disturbances. Robust state and control input references are systematically generated in terms of a fictitious design variable, namely differentially flat output, estimations of disturbances and their successive time derivatives. The proposed robust motion controller improves the performance of SEAs when they suffer from internal and external disturbances, such as friction, inertia variation and external load, in real implementations. Experimental results are given to validate the proposal.
机译：系列弹性执行器（SEA）在机械性能上优于传统的刚性和不可逆驱动的执行器，例如，输出时的反射惯性更低，抗冲击性更高，低成本的力测量，能量存储，安全性等。但是，由于控制器设计不足，它们的应用通常会受到性能限制，特别是在位置控制方面。提出了一种利用微分平坦度和扰动观测器针对SEA鲁棒位置和力控制问题的统一主动抗扰运动控制器。它不仅可以抑制匹配的干扰，还可以抑制不匹配的干扰。根据虚拟的设计变量（即差分平面输出，干扰估计及其连续时间导数）系统地生成鲁棒的状态和控制输入参考。在实际实现中，当SEA遭受内部和外部干扰（例如，摩擦，惯性变化和外部负载）时，所提出的鲁棒运动控制器可提高SEA的性能。实验结果证明了该建议。

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