Guo Zhao, Sun Jiantao, Ling Jie, Pan Yongping, Xiao Xiaohui
School of Power and Mechanical Engineering, Wuhan University, Wuhan, China.
Wuhan University Shenzhen Research Institute, Shenzhen, China.
Front Neurorobot. 2019 Jun 11;13:35. doi: 10.3389/fnbot.2019.00035. eCollection 2019.
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.
可变刚度驱动器（VSA）已被引入以开发新一代柔顺机器人。然而，由于诸如参数不确定性和外部干扰等模型扰动，VSA的控制仍然具有挑战性。本文提出了一种基于非线性干扰观测器（NDOB）的复合控制方法，以在模型扰动下同时控制VSA的刚度和位置。与现有的VSA非线性控制方法相比，该方法的显著特点包括：（1）应用一种新颖的建模方法来分析由参数不确定性、外部干扰和柔性挠度产生的复杂扰动下的VSA动力学；（2）开发了一种将反馈线性化与NDOB集成的新型复合控制器，以提高跟踪精度和对不确定性的鲁棒性。仿真和实验均验证了该方法对VSA的有效性。
