Enhanced extended state observer-based model-free force control for a Series Elastic Actuator

With inherent mechanical compliance and programmable force controllability, the Series Elastic Actuator (SEA) has been a popular choice for modern mechanical systems. It is crucial to realize accurate and robust force control for a SEA, especially in a physical human-robot interaction condition. In this paper, a model-free force controller (MFFC) for the SEA is developed, which relies only on the input-output measurement. Firstly, based on the ultra-local model concept, the SEA force dynamics is reformulated in a simpler way, and all unknown terms are grouped as one term called lumped total disturbance. Secondly, an enhanced extended stated observer (EESO) is designed to simultaneously estimate the lumped total disturbance, the force velocity, and the control input gain. Thirdly, a disturbance rejective intelligent PD (iPD) control scheme is established. In addition, the effects of the control input gain are analyzed and the close-loop stability is demonstrated with Lyapunov method. The control accuracy and robustness of the MFFC are verified in a physical human-robot interaction environment.