Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 67)


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.


Antagonistic 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.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Electrical Engineering, Signals and System Department, Laboratory for RoboticsUniversity of BelgradeBelgradeSerbia
  2. 2.School of Electrical Engineering, Signals and System DepartmentUniversity of BelgradeBelgradeSerbia

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