University of Twente Student Theses


Time-domain passivity enforcement for mass reduction in admittance control

Vallinas Prieto, Ander (2019) Time-domain passivity enforcement for mass reduction in admittance control.

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Abstract:Admittance Control (AC) is a control strategy that defines the desired dynamic properties for the controlled device. AC is used in exoskeletons and for rehabilitation purposes it is sought that the device displays low impedance (small inertia). However, when admittance controlled systems aiming for mass reduction interact with purely stiff environments, the interaction becomes unstable. This work shows the feasibility of mass reduction with AC by enforcing Time-Domain Passivity, which ensures interaction stability (in simulation). To that end, independent forces are applied on the virtual model and real system with the aim of energy dissipation. The corrective forces are computed by a MPC. Every time step the MPC simulates the system response several steps in the future and enforces that the energy exchange in the interaction is passive by means of the corrective forces. This work presents the design of the MPC and compares its performance in simulation with previous research as well as the difference between the attained and desired results. The proposed method is able to stabilize interaction in simulation and can be implemented in a physical setup. Therefore the obtained results are a promising step towards passive mass reduction with AC.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering, 54 computer science
Programme:Systems and Control MSc (60359)
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