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Relaxing conservatism of robust disturbance observer based torque control of series-elastic actuators for articulated robots

Lomillos Rozeboom, L. (2021) Relaxing conservatism of robust disturbance observer based torque control of series-elastic actuators for articulated robots.

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Abstract:The use of series elastic actuators for torque control of articulated robots has seen an increase in adoption in the last years due to some clear benefits with respect to conventional actuators. The dynamic behaviour of articulated robots is highly nonlinear. Two different controller design methods are investigated in this paper. The first one defines the control design as an optimization problem with the objective of tuning the parameters of a disturbance observer based torque control capable of compensating for the disturbances caused by the varying loads. It is shown that this method is capable of obtaining better performance than traditional H-infinity methods solving the overconservatism issue. The second considered method uses mu-synthesis to obtain a controller that achieves robust performance for a range of varying load inertias. The obtained controller, however, is not viable in a real system due to the large magnitude and frequency components of the control signal.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/88519
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