一种面向交互应用的串联弹性驱动器有限时间输出反馈控制方法

doi:10.13973/j.cnki.robot.2016.0513

摘要
图/表
参考文献
相关文章 (8)

全文: PDF (959 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
王萌, 孙雷, 尹伟, 董帅, 刘景泰. 一种面向交互应用的串联弹性驱动器有限时间输出反馈控制方法[J]. 机器人, 2016, 38(5): 513-521.DOI: 10.13973/j.cnki.robot.2016.0513. WANG Meng, SUN Lei, YIN Wei, DONG Shuai, LIU Jingtai. A Finite Time Output Feedback Control Approach forInteraction-oriented Series Elastic Actuators. ROBOT, 2016, 38(5): 513-521. DOI: 10.13973/j.cnki.robot.2016.0513.

摘要串联弹性驱动器（SEA）被广泛地应用于机器人与环境、机器人与人的交互场景中，针对这种交互应用，本文提出了一种新型的有限时间输出反馈控制策略（FTOFC），保证SEA的输出力矩在交互过程中能够快速达到期望值/轨迹．具体而言，首先对SEA的动力学模型进行了分析和变换；其次，基于有限时间控制理论，设计了有限时间扩张状态观测器和2阶滑模控制器，将两者结合实现了一种有限时间输出反馈控制策略，并对闭环系统的稳定性及信号有界性进行了严格的理论分析．相比于已有方法，本文方法有以下3个方面的优势：1)本文的控制方法适用于非线性SEA，更具有通用性；2)本文方法基于有限时间控制理论，具有更优的暂态响应性能；3)本文控制方法充分考虑了交互过程中负载端动力学可能会发生剧烈变化的情况，更适用于交互应用．为了验证以上3点，在自主搭建的单关节SEA交互机器人平台上进行了实验验证并与传统的级联PID方法进行了对比，结果表明本文设计的控制器能取得更好的控制效果，并且对外界干扰具有很强的鲁棒性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	王萌
	孙雷
	尹伟
	董帅
	刘景泰

关键词 ：串联弹性驱动器, 力矩控制, 人-机交互

Abstract：Series elastic actuators (SEAs) are widely used as mechanical drives in robots that intelligently interact with environments and humans. Specific to these applications, a novel finite time output feedback controller (FTOFC) is presented to generate the desired torque. In particular, the generic dynamics of SEA systems is described and some analysis and transformation operations are performed. Then based on the recently developed finite-time control technique, a finite time observer and a continuous second order sliding-mode control scheme are introduced to synthesize the control law, on the basis of which some theoretical analysis is implemented to show the stability and boundedness of the closed-loop signals. Compared with existing methods, the contribution of the paper is three-fold:1) the controller is suitable for nonlinear SEAs, which implies it is more generic; 2) the finite-time convergence property is guaranteed to have a better transient performance; 3) the controller works well even in the presence of unknown payload parameters and external disturbances. To demonstrate these merits, some experiments are carried out on the self-built single-joint SEA robot. The experimental results show that the designed controller achieves better performance than the traditional cascade-PID controller, in terms of robustness against system uncertainties.

Key words： series elastic actuator torque control human-robot interaction

收稿日期: 2016-05-01 录用日期: 2016-07-05

TP242

基金资助:国家自然科学基金（61573198）

通讯作者: 刘景泰，liujt@nankai.edu.cn E-mail: liujt@nankai.edu.cn

作者简介: 王萌（1990-），男，博士生．研究领域：机器人控制，非线性控制，人机交互．
孙雷（1977-），男，博士，副教授．研究领域：轨迹规划，机器人系统．
尹伟（1991-），男，博士生．研究领域：工业机器人，抖动抑制，位置控制．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0513 或 https://robot.sia.cn/CN/Y2016/V38/I5/513

[1] Veneman J F, Ekkelenkamp R, Kruidhof R, et al. A series elastic- and Bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots[J]. International Journal of Robotics Research, 2006, 25(3):261-281.

[2] Vallery H, Veneman J, van Asseldonk E, et al. Compliant actuation of rehabilitation robots:Benefits and limitations of series elastic actuators[J]. IEEE Robotics and Automation Magazine, 2008, 15(3):60-69.

[3] Sulzer J S, Roiz R A, Peshkin M A, et al. A highly backdrivable, lightweight knee actuator for investigating gait in stroke[J]. IEEE Transactions on Robotics, 2009, 25(3):539-548.

[4] Mathijssen G, Lefeber D, Vanderborght B. Variable recruitment of parallel elastic elements:Series——parallel elastic actuators (SPEA) with dephased mutilated gears[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(2):594-602.

[5] Pfeifer S, Pagel A, Riener R, et al. Actuator with angle-dependent elasticity for biomimetic transfemoral prostheses[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(3):1384-1394.

[6] Pratt G A, Williamson M M. Series elastic actuators[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 1995:399-406.
[7] Pratt G A, Willisson P, Bolton C, et al. Late motor processing in low-impedance robots:Impedance control of series-elastic actuators[C]//American Control Conference. Piscataway, USA:IEEE, 2004:3245-3251.
[8] Wyeth G. Control issues for velocity sourced series elastic actuators[C]//Proceedings of the Australasian Conference on Robotics and Automation. Australia:Australian Robotics and Automation Association Inc., 2006.
[9] Wyeth G. Demonstrating the safety and performance of a velocity sourced series elastic actuator[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2008:3642-3647.
[10] Vallery H, Ekkelenkamp R, van der Kooij H, et al. Passive and accurate torque control of series elastic actuators[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2007:3534-3538.
[11] Tagliamonte N L, Accoto D, Guglielmelli E. Rendering viscoelasticity with series elastic actuators using cascade control[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2014:2424-2429.
[12] Li Y F, Chu C Y, Xu J Y, et al. A humanoid robotic wrist with two-dimensional series elastic actuation for accurate force/torque interaction[J]. IEEE/ASME Transactions on Mechatronics, 2016, 21(3):1315-1325.

[13] Oblak J, Matjacic Z. On stability and passivity of haptic devices characterized by a series elastic actuation and considerable end-point mass[C]//IEEE International Conference on Rehabilitation Robotics. Piscataway, USA:IEEE, 2011.
[14] Tagliamonte N L, Accoto D. Passivity constraints for the impedance control of series elastic actuators[J]. Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2014, 228(3):138-153.

[15] Kong K, Bae J, Tomizuka M. Control of rotary series elastic actuator for ideal force-mode actuation in human——robot interaction applications[J]. IEEE/ASME Transactions on Mechatronics, 2009, 14(1):105-118.

[16] Kong K, Bae J, Tomizuka M. A compact rotary series elastic actuator for human assistive systems[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(2):288-297.

[17] Yoo S, Chung W K. SEA force/torque servo control with model-based robust motion control and link-side motion feedback[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2015:1042-1048.
[18] Calanca A, Fiorini P. Human-adaptive control of series elastic actuators[J]. Robotica, 2014, 32(8):1301-1316.

[19] Zhu Q G, Mao Y C, Xiong R, et al. Adaptive torque and position control for a legged robot based on a series elastic actuator[J]. International Journal of Advanced Robotic Systems, 2016, 13:No.26.
[20] Bae J, Kong K, Tomizuka M. Gait phase-based smoothed sliding mode control for a rotary series elastic actuator installed on the knee joint[C]//American Control Conference. Piscataway, USA:IEEE, 2010:6030-6035.
[21] Misgeld B J E, Pomprapa A, Leonhardt S. Robust control of compliant actuators using positive real H₂-controller synthesis[C]//American Control Conference. Piscataway, USA:IEEE, 2014:5477-5483.
[22] 朱秋国,熊蓉,吕铖杰,等.新型串联弹性驱动器设计与速度控制[J].电机与控制学报,2015,19(6):83-88. ewline Zhu Q G, Xiong R, Lü C J, et al. Novel series elastic actuator design and velocity control[J]. Electric Machines and Control, 2015, 19(6):83-88.
[23] Wolf S, Hirzinger G. A new variable stiffness design:Matching requirements of the next robot generation[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2008:1741-1746.
[24] Jafari A, Tsagarakis N G, Caldwell D G. A novel intrinsically energy efficient actuator with adjustable stiffness (AwAS)[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(1):355-365.

[25] Mooney L, Herr H. Continuously-variable series-elastic actuator[C]//IEEE International Conference on Rehabilitation Robotics. Piscataway, USA:IEEE, 2013.
[26] Paine N, Sentis L. A new prismatic series elastic actuator with compact size and high performance[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2012:1759-1766.
[27] Laffranchi M, Chen L, Kashiri N, et al. Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots[J]. Robotics and Autonomous Systems, 2014, 62(12):1827-1836.

[28] Austin J, Schepelmann A, Geyer H. Control and evaluation of series elastic actuators with nonlinear rubber springs[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2015:6563-6568.
[29] Yu H Y, Huang S N, Chen G, et al. Human-robot interaction control of rehabilitation robots with series elastic actuators[J]. IEEE Transactions on Robotics, 2015, 31(5):1089-1100.

[30] Garabini M, Passaglia A, Belo F, et al. Optimality principles in stiffness control:The VSA kick[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2012:3341-3346.
[31] Braun D, Howard M, Vijayakumar S. Optimal variable stiffness control:Formulation and application to explosive movement tasks[J]. Autonomous Robots, 2012, 33(3):237-253.

[32] Lee J, Laffranchi M, Kashiri N, et al. Model-free force tracking control of piezoelectric actuators:Application to variable damping actuator[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2014:2283-2289.
[33] Lee J, Jin M, Tsagarakis N G, et al. Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2014:2407-2413.
[34] Wang M, Sun L, Yin W, et al. A novel sliding mode control for series elastic actuator torque tracking with an extended disturbance observer[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2015:2407-2412.
[35] Dong S, Zhou L, Wang M, et al. Variable stiffness estimation of a series elastic actuator[C]//Proceedings of the Chinese Control Conference. Piscataway, USA:IEEE, 2016:2114-2119.
[36] 杨明,董晨,王松艳,等.基于有限时间输出反馈的线性扩张状态观测器[J].自动化学报,2015,41(1):59-66. ewline Yang M, Dong C, Wang S Y, et al. Linear extended state observer based on finite-time output feedback[J]. Acta Automatica Sinica, 2015, 41(1):59-66.
[37] Moreno J A, Osorio M. Strict Lyapunov functions for the super-twisting algorithm[J]. IEEE Transactions on Automatic Control, 2012, 57(4):1035-1040.