Saturation Functions Based Control for Series Elastic Actuator with Feedback Linearization
作者单位：Institute of Robotics and Automatic Information SystemNankai University Tianjin Key Laboratory of Intelligent Robotics
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
关 键 词：Series Elastic Actuator Feedback Linearization Saturation Functions Tracking Control
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 La Salle s invariance principle. The effectiveness of the proposed control strategy is verified by simulations and experiments based on a SEA-driven robot arm.