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Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification

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Advances in Service and Industrial Robotics (RAAD 2018)

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

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Abstract

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.

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Acknowledgment

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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Authors and Affiliations

  1. School of Electrical Engineering, Signals and System Department, Laboratory for Robotics, University of Belgrade, 11120, Belgrade, Serbia

    Branko Lukić & Kosta Jovanović

  2. School of Electrical Engineering, Signals and System Department, University of Belgrade, 11120, Belgrade, Serbia

    Tomislav B. Šekara

Authors
  1. Branko Lukić
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  2. Kosta Jovanović
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  3. Tomislav B. Šekara
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Corresponding author

Correspondence to Branko Lukić .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Nikos A. Aspragathos

  2. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Panagiotis N. Koustoumpardis

  3. Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece

    Vassilis C. Moulianitis

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Lukić, B., Jovanović, K., Šekara, T.B. (2019). Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_45

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  • DOI: https://doi.org/10.1007/978-3-030-00232-9_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00231-2

  • Online ISBN: 978-3-030-00232-9

  • eBook Packages: EngineeringEngineering (R0)

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