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Title: Robust trajectory tracking control for variable stiffness actuators with model perturbations
Authors: Guo, Z.
Sun, J.
Ling, J.
Pan, Y. 
Xiao, X.
Keywords: Compliant actuator
Composite control
Feedback linearization
Model perturbations
Nonlinear disturbance observer
Variable stiffness actuator
Issue Date: 2019
Publisher: Frontiers Media S.A.
Citation: Guo, Z., Sun, J., Ling, J., Pan, Y., Xiao, X. (2019). Robust trajectory tracking control for variable stiffness actuators with model perturbations. Frontiers in Neurorobotics 13 : 35. ScholarBank@NUS Repository.
Rights: Attribution 4.0 International
Abstract: Variable Stiffness Actuators (VSAs) have been introduced to develop new-generation compliant robots. However, the control of VSAs is still challenging because of model perturbations such as parametric uncertainties and external disturbances. This paper proposed a non-linear disturbance observer (NDOB)-based composite control approach to control both stiffness and position of VSAs under model perturbations. Compared with existing non-linear control approaches for VSAs, the distinctive features of the proposed approach include: (1) A novel modeling method is applied to analysis the VSA dynamics under complex perturbations produced by parameter uncertainties, external disturbances, and flexible deflection; (2) A novel composite controller integrated feedback linearization with NDOB is developed to increase tracking accuracy and robustness against uncertainties. Both simulations and experiments have verified the effectiveness of the proposed method on VSAs. Copyright © 2019 Guo, Sun, Ling, Pan and Xiao.
Source Title: Frontiers in Neurorobotics
ISSN: 16625218
DOI: 10.3389/fnbot.2019.00035
Rights: Attribution 4.0 International
Appears in Collections:Staff Publications

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