A Nonsmooth Dynamic Control Approach for Series Elastic Actuator

A new position regulation control algorithm is designed for the series elastic actuator (SEA) system in the presence of parameter uncertainties. To enhance the position regulation performance by using the homogeneous system theory and a non-recursive synthesis approach, the resulting dynamic stabilizing control scheme can be expressed in a simple non-nested form with explicit gain tuning mechanisms. The proposed controller guarantees the system output converge to its reference within a finite time and moreover, it could reduce the synthesis complexity. Experiments on a SEA are presented to demonstrate the effectiveness of the proposed methodology.