Robust control of a system with a pneumatic spring |
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| Authors: | Dongwon Kim Jinoh Lee |
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| Institution: | 1. Department of Physical Therapy and Rehabilitation Science, School of Medicine, University of Maryland, Baltimore, Maryland 21201, United States;2. Department of Biongineering, School of Engineering, University of Maryland, College Park, Maryland 20742, United States;3. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Bavaria 82234, Germany;1. IMT Atlantique, LS2N, CNRS UMR-6004, Nantes, France;2. Sidi-Mohamed Ben-Abdellah University, Fès, Morocco;1. School of Mathematics and Statistics, Southwest University, Chongqing 400715, PR China;2. School of Mathematics, Southeast University, Nanjing Jiangsu 210096, PR China;3. Yonsei Frontier Lab, Yonsei University, Seoul 03722, PR Korea;1. School of Mathematics and Physics, China University of Geosciences (Wuhan), Wuhan 430074, China;2. Zhejiang Institute, China University of Geosciences, Hangzhou, Zhejiang 311305, China;3. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran 14399–57131, Iran;4. Department of Mechanical Engineering, University of Manitoba, Winnipeg R3T 5V6, Canada;5. Department of Computer Technologies, Vocational School of Karacabey, Bursa Uludag University, Karacabey 16700, Bursa, Turkey;6. Mathematical Institute, University of Oxford, Oxford OX2 6GG, England;1. Energy Department, FEMTO-ST Institute (UMR 6174), French National Centre for Scientific Research (CNRS), UTBM, Université Bourgogne Franche-Comté, Belfort, France;2. School of Engineering and Physics, The University of the South Pacific, Laucala Campus, Suva, Fiji |
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| Abstract: | Recently, series elasticity has been realized using pneumatics in human-robot interaction systems. Pneumatic circuits provide not only a flexible power transmission, but also the elastic element in a series elastic actuator (SEA). Pneumatic series elastic systems involve more than twice the number of parameters that influence system behaviors in comparison with rigid robotic systems. In this study, a position controller that eliminates the need of identifying a system model by employing the time delay estimation (TDE) technique is proposed for pneumatic SEA systems. The TDE technique is effective in compensating for system dynamics and all uncertainties involved in system behaviors without imposing computation load. TDE error is cancelled out through a learning way, which improves control performance and leads to asymptotic stability. A simulation study demonstrates the robustness of the proposed controllers against uncertainties imposed on the motor system as well as uncertainties on the end-effector. The simulation shows the efficacy of the learning compensation for TDE error. |
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