自动化学报2018，Vol.44Issue(12)：2170-2178,9.DOI:10.16383/j.aas.2018.c170146
基于RISE反馈的串联弹性驱动器最优控制方法
Optimal Control for Series Elastic Actuator Using RISE Feedback
摘要
Abstract
Series elastic actuator (SEA) is an ideal power source in robots interaction systems. Aiming at SEA torque control, an optimization scheme with an RISE (robust integral of the sign of the error) feedback structure is proposed to ensure the output of SEA asymptotically tracks a desired time-varying torque despite uncertainties in the dynamics like bounded disturbance or parametric uncertainty. Specifically, the generic dynamics of SEA system is described and some analysis and transformation operations are performed. The system in which all terms are assumed to be known is feedback linearized and a control law is developed using the optimization method for a given quadratic performance index. Then the control law is modified to contain the RISE feedback term for identifying the uncertainty. At last, a Lyapunov stability analysis is included to show that the tracking error converges to zero with all signals bounded. Experiment results show that the suggested controller achieves satisfactory control performance and strong robustness to disturbance.关键词
串联弹性驱动器/最优控制/RISE/力矩控制Key words
Series elastic actuator (SEA) /optimal control/robust integral of the sign of the error (RISE) /torque control引用本文复制引用
孙雷,孙伟超,王萌,刘景泰..基于RISE反馈的串联弹性驱动器最优控制方法[J].自动化学报,2018,44(12):2170-2178,9.基金项目
国家自然科学基金(61573198)资助 （61573198）
