Compliant Control of Flexible Joint by Dual-Disturbance Observer and Predictive Feedforward

Wan, Hongyu; Chen, Chin-Yin; Zhang, Chi; Chen, Chin-Yin; Yang, Guilin

doi:10.1109/tmech.2023.3272364

Cited by 4 publications

(2 citation statements)

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“…As a result, the more general approach for robust interaction might be too conservative for certain applications. The last possible downside of this unified framework might be the complexity of passivity bounds for more complex controllers: While simple bounds were found for DOB and acceleration feedback, more complex controllers such as the dual DOB proposed by [38] might be harder to analyze.…”

Section: Discussionmentioning

confidence: 99%

“…This controller achieved robust performance across environmental conditions while suffering from a limited bandwidth compared to other approaches. Wan et al [38] propose the use of a dual DOB implementation to separately estimate disturbances on the motor load side. This controller achieved higher tracking accuracy compared to methods that only used a DOB on either motor or link side.…”

Section: State Of the Artmentioning

confidence: 99%

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Evaluation and Comparison of SEA Torque Controllers in a Unified Framework

et al. 2023

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Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers, both in the torque response as well as interaction behavior with its environment. To differentiate state of the art torque controllers, this work introduces a unifying theoretical and experimental framework that compares controllers based on their torque transfer behavior, their apparent impedance behavior, and especially the passivity of the apparent impedance (i.e., their interaction stability) as well as their sensitivity to sensor noise. We compare classical SEA control approaches such as cascaded PID controllers and full state feedback controllers with advanced controllers using disturbance observers, acceleration feedback and adaptation rules. Simulations and experiments demonstrate the trade-off between stable interactions, high bandwidths and low noise levels. Based on these trade-offs, an application-specific controller can be designed and tuned, based on desired interaction with the respective environment.

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Section: Discussionmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%