Paper Info
Title
A comparison study on observer-based force control of series elastic actuators
Abstract
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected inertia and safety. However, the robustness to the modeling uncertainties and external disturbances is still a study material for researchers. It is known that when model-based control methods are used with disturbance observers, high precision tracking results can be obtained. Therefore, in this study, model predictive control and model-based feedforward control methods are investigated in different scenarios and simulation results are provided for comparison.
Year
DOI
Venue
2018
10.1109/AMC.2019.8371128
2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)
Keywords
Field
DocType
Series Elastic Actuator,robustness,force control
Computer science,Control theory,Model predictive control,Control engineering,Robustness (computer science),Artificial intelligence,Inertia,Observer (quantum physics),Elasticity (economics),Robotics,Actuator,Feed forward
Conference
ISSN
ISBN
Citations 
1943-6572
978-1-5386-1947-6
0
PageRank 
References 
Authors
0.34
3
3
Name
Order
Citations
PageRank
Ahmet Talha Kansizoglu100.68
Emre Sariyildiz216516.99
Barkan Ugurlu311614.58