Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 139, Issue -, Pages -Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2018.12.031
Keywords
SEA; Torque control; Finite-time; ESO
Categories
Funding
- National Natural Science Foundation of China [61573198]
- National High-tech RAMP
- D Program of China (863 Program) [2012AA041403]
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Series elastic actuator (SEA) is widely used in robots that intelligently interact with humans, but unavoidably suffer from the influences brought by interactions, such as variations of the payload parameters and external disturbances. In order to address these challenges, this paper proposes a practical finite-time output feedback controller (FT-OFC) along with a finite-time extended state observers (FT-ESO) to generate the desired torque for SEA. Specifically, the dynamics of SEA system is analyzed and transformed firstly, through several coordinate transformations, into an integral-chain form. Based on this, we construct a new FT-ESO to estimate the uncertainties as well as the states of SEA system. Subsequently, a continuous terminal sliding-mode control scheme is introduced to synthesize the control law. Lyapunov-based analysis is provided to demonstrate that the equilibrium point of the closed-loop system is finite-time stable. The validity and superior performance of the proposed method are verified by a series of experiments carried out on a self-built SEA platform. (C) 2018 Elsevier Ltd. All rights reserved.
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