Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation

B. R. P. Singh, P. V. Manivannan, P. Beckerle
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Abstract

This paper investigates a sensor-minimal approach to motion control in variable stiffness actuators. This control approach aims at reducing the need of sensors for tracking a desired trajectory. By this, problems caused by collocation and additional noise in measurement signals could get reduced along with economic benefits due to lower system complexity. Control laws are designed using a passivity-based approach which requires only one sensor, i.e, for measuring actuator position. Due to the demand of information about actuator velocities in the control law, those are calculated using a velocity compensator, numerical calculation, and linear filtering. The parameters of the controller and the velocity compensator are selected based on the global asymptotic stability requirements. To compare the three methods, those are compared regarding the example of the variable torsion stiffness actuator (VTS). Using the controller with the velocity compensator shows good results in simulations and experiments. Numerical calculation achieves slightly worse results while linear filtering does not show feasible results.
基于无源原理和速度估计的变刚度作动器传感器最小运动控制
本文研究了变刚度作动器运动控制的最小传感器方法。这种控制方法的目的是减少跟踪所需轨迹的传感器需求。这样可以在降低系统复杂性的同时,减少由于测量信号的配置和附加噪声所带来的问题,并获得经济效益。控制律的设计使用基于被动的方法,只需要一个传感器,即用于测量执行器的位置。由于控制律中对执行器速度信息的要求,采用速度补偿器、数值计算和线性滤波的方法对速度信息进行了计算。根据全局渐近稳定性要求,选择控制器和速度补偿器的参数。为了比较这三种方法,以变扭刚度作动器(VTS)为例进行比较。将该控制器与速度补偿器结合使用,在仿真和实验中均取得了良好的效果。数值计算结果略差,线性滤波结果不可行。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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