自动化学报2017，Vol.43Issue(8)：1319-1328,10.DOI:10.16383/j.aas.2017.c160337
面向交互应用的串联弹性驱动器力矩控制方法
Series Elastic Actuator Torque Control Approach for Interaction Application
摘要
Abstract
For series elastic actuator (SEA) systems, most existing methods treat the mechanical component as a linear spring. However, in order to achieve high energy density, mechanical structures of SEAs are becoming more and more complex, which makes the control problem more challenging. Additionally, currently available approaches cannot guarantee the control performance when the payload dynamics changes drastically during the interaction process. To deal with these problems, an adaptive sliding-mode control method is proposed for interaction applications. Specifically, by taking account of nonlinear SEAs and disturbances, the dynamics of SEA systems is uniformly described and transformed. Then, an observer and adaptive sliding mode controller are designed and they work well even in the presence of unknown payload dynamics. Finally, an auxiliary system is designed to deal with the saturation problem. Stability and boundedness of the closed-loop signal is ensured mathematically. Subsequent experiment results also demonstrate that the designed controller is robust against system uncertainties and can achieve a superior performance for SEA torque control.关键词
串联弹性驱动器/力矩控制/人-机交互/自适应滑模控制Key words
Series elastic actuator (SEA)/torque control/human-robot interaction/adaptive sliding-mode control引用本文复制引用
王萌,孙雷,尹伟,董帅,刘景泰..面向交互应用的串联弹性驱动器力矩控制方法[J].自动化学报,2017,43(8):1319-1328,10.基金项目
国家自然科学基金(61573198) 资助Supported by National Natural Science Foundation of China (61573198) （61573198）
