Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification
- 1.4k Downloads
This paper presents cascade control approach for simultaneous position and stiffness control of antagonistic actuators, which can be easily applied to other types of Variable Stiffness Actuators (VSA). The control design approach presented in this paper has two steps. The first step is tuning of inner loop PIDs for motor position control based on the second order dynamic model. The second step is adaptive controller design for fine tuning of system dynamics in different set points. Therefore, bank of controllers is formed and it is used to tune outer loop controllers’ for shaping position and stiffness references.
KeywordsAntagonistic actuators Variable stiffness actuators Cascade control Gain scheduling
This paper was partly funded by the Ministry of Education, Science and Technological Development, Republic of Serbia, under contract TR-35003 and TR-33020.
- 5.Migliore, S.A., Brown, E.A., De Weerth, S.P.: Biologically inspired joint stiffness control. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, pp. 4519–4524, April 2005Google Scholar
- 7.Jovanović, K., Lukić, B., Potkonjak, V.: Feedback linearization for decoupled position/stiffness control of bidirectional antagonistic drives. Electr. Energetics 31(1), 51–61 (2018)Google Scholar
- 8.Jovanovic, K., Potkonjak, V., Holland, O.: Dynamic modelling of an anthropomimetic robot in contact tasks. Adv. Robot. 28(11), 793–806 (2014)Google Scholar
- 9.Potkonjak, V., Svetozarevic, B., Jovanovic, K., Holland, O.: The puller-follower control of compliant and noncompliant antagonistic tendon drives in robotic system. Int. J. Adv. Rob. Syst. 8, 143–155 (2012)Google Scholar
- 10.Lukic, B., Jovanovic, K., Rakic, A.: Realization and comparative analysis of coupled and decoupled control methods for bidirectional antagonistic drives: QBmove maker pro. In: The 3rd IcETRAN Conference, Zlatibor, Serbia, pp. RO1.1–1-6, June 2016Google Scholar
- 11.Lukic, B., Jovanovic, K.: Influence of mechanical characteristics of a compliant robot on cartesian impedance control design. In: The 2nd IcETRAN Conference, Silver Lake, Serbia, pp. ROI2.5–1-6, June 2015Google Scholar
- 13.Astrom, K.J., Hagglund, T.: PID Controllers: Theory, Design and Tunning, 2nd edn. ISBN 1-55617-516-7Google Scholar
- 17.Šekara, T.B., Trifunović, M.B., Govedarica, V.: Frequency domain design of a complex controller under constraints on robustness and sensitivity to measurement noise. Electronics 15(1), 40–44 (2011)Google Scholar