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- Title
Design of a Hybrid Adaptive Controller for Series Elastic Actuators of Robots.
- Authors
Al-Ashtari, Waleed; Ali, Karim H.
- Abstract
This study presents a comprehensive exploration of the performance of a proposed controller within dynamic system contexts. The controller is rooted in Model Reference Adaptive Control (MRAC) and State Feedback Controller (SFC) techniques, offering a robust approach tailored specifically for Series Elastic Actuators (SEAs). This hybrid technique aims to overcome system uncertainties and attenuate load disturbances, thereby enhancing system performance and stability. Lyapunov stability analysis is employed to derive the adaptation mechanism, ensuring both the stability and efficacy of the controller. Additionally, the controller can be fine-tuned using a parameter, b. The study thoroughly analyzes the impact of this tuning parameter on suspension response. Through systematic simulations, an optimal value of is identified, and the controller's performance is investigated in terms of achieving the desired output with minimal settling time and control torque. At b = -80, the results demonstrate that the proposed controller efficiently achieves input tracking with a settling time of 1.95 seconds and a control torque reaching 7.39 Nm. The investigation extends to parameter uncertainties, highlighting the controller's adaptability to variations and showcasing its ability to proportionally adjust torque in response to parameter changes. Furthermore, the controller's resilience is validated under load disturbances, effectively demonstrating its capability to mitigate torque fluctuations and maintain desired angular positions. The results also indicate that the unit step disturbance causes a 49.9% increase in control torque, while the sinusoidal disturbance causes a 25% increase in control torque. Overall, this study underscores the controller's versatility, efficacy, and adaptive nature, positioning it as a valuable asset in the realm of SEA control applications.
- Subjects
SEA control; ACTUATORS; LYAPUNOV stability; ADAPTIVE control systems; DYNAMICAL systems
- Publication
Journal Européen des Systèmes Automatisés, 2023, Vol 56, Issue 6, p1053
- ISSN
1269-6935
- Publication type
Article
- DOI
10.18280/jesa.560615