Name
Title | ||
|---|---|---|
Robust Control of a Serial Variable Stiffness Actuator Based on Nonlinear Disturbance Observer (NDOB) |
Abstract | ||
|---|---|---|
This paper focuses on the difficulty of designing control strategy for a Serial Variable Stiffness Actuator (SVSA) because of the disturbances in such as spring deflection, model uncertainty and load disturbance. A nonlinear disturbance observer based composite controller (NDOBC) is developed to reject the load disturbance and improve the performance in disturbance rejection. This NDOBC is proposed to control both stiffness and position of the SVSA. Compared to other nonlinear controller for SVSA, the proposed control method can guarantee the robust stability and performance against load disturbance. The effectiveness of the proposed controller is experimentally verified on the SVSA. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ICARM.2018.8610767 | 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) |
Keywords | Field | DocType |
robust control,serial variable stiffness actuator,nonlinear disturbance observer,control strategy,SVSA,load disturbance,composite controller,NDOBC,disturbance rejection,nonlinear controller,control method | Deflection (engineering),Control theory,Nonlinear system,Control theory,Computer science,Stiffness,Robust control,Observer (quantum physics),Actuator | Conference |
ISBN | Citations | PageRank |
978-1-5386-7067-5 | 0 | 0.34 |
References | Authors | |
16 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhao Guo | 1 | 55 | 11.51 |
| Jiantao Sun | 2 | 2 | 1.04 |
| Jie Ling | 3 | 11 | 6.84 |
| Tairen Sun | 4 | 135 | 9.17 |
| Yongping Pan | 5 | 50 | 4.64 |
| Xiaohui Xiao | 6 | 23 | 13.56 |