Saturation Functions Based Control for Series Elastic Actuator with Feedback Linearization

被引：0
|
作者：
Zha, Tianjun [1 ,2 ]
Li, Peiwen [1 ,2 ]
Xu, Yucheng [1 ,2 ]
Gong, Xinru [2 ]
Sun, Lei [1 ,2 ]
机构：
[1] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin 300353, Peoples R China
[2] Tianjin Key Lab Intelligent Robot, Tianjin, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
关键词：
Series Elastic Actuator; Feedback Linearization; Saturation Functions; Tracking Control; ROBOTS; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a saturation functions based control law with feedback linearization (FL) is proposed for the trajectory tracking control of a series elastic actuator (SEA) system. A feedback-based stabilisation-bounded control action shaped by saturation functions is designed. The controller consists of two parts, one is a feedforward controller which guarantees high order tracking errors converge to a small region, the other is a feedback controller which brings the entire state errors of the SEA system asymptotically converge to zero. In the second part of controller, the saturation function is not unique. Closed-loop stability is established by the Lyapunov method and LaSalle's invariance principle. The effectiveness of the proposed control strategy is verified by simulations and experiments based on a SEA-driven robot arm.
引用
收藏
页码：253 / 259
页数：7
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