Study of dynamic performance and adaptive control of the variable stiffness actuator with time-varying parameters

被引：0

作者：

Yang, Zemin ^{[1
,2
]}

Li, Xiaopeng ^{[3
]}

Sun, Dan ^{[1
,2
]}

Chen, Renzhen ^{[1
,2
]}

Xu, Wenfeng ^{[1
,2
]}

机构：

[1] Shenyang Aerosp Univ, Key Lab Aircraft Test & Control Technol Liaoning P, Shenyang 110136, Peoples R China

[2] Shenyang Aerosp Univ, Key Lab Turbomachinery Adv Seal Technol, Shenyang, Peoples R China

[3] Northeastern Univ, Sch Mech Engn & Automat, Shenyang, Peoples R China

来源：

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2024年 / 52卷 / 12期

基金：

中国国家自然科学基金;

关键词：

Variable stiffness actuator; time-varying parameter; dynamic performance; adaptive control; RBF neural network;

D O I：

10.1080/15397734.2024.2348750

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The study of dynamic performance and adaptive control of variable stiffness actuators with time-varying parameters is significant for the realization of stable and efficient human-computer interaction. In this paper, for the previously proposed variable stiffness actuator, the dynamics model of the variable stiffness actuator system is established according to the two-inertia-system theory, and the effects of time-varying parameters on the dynamic performance of the variable stiffness actuator system are analyzed. Then the adaptive control strategy of the variable stiffness actuator system with time-varying parameters is studied, and the correctness and effectiveness of the control strategy are verified experimentally. The results show that the time-varying parameters have a more obvious effect on the dynamic performance of the variable stiffness actuator system, and the difficulty in designing the system control strategy, which is caused by the complex dynamics modeling of variable stiffness actuator systems with time-varying parameters, can be effectively solved by using the proposed adaptive control strategy. Moreover, the control strategy has good stability and generalization ability.

引用

页码：9858 / 9877

页数：20

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