Asymptotically Stable Disturbance Observer-Based Compliance Control of Electrohydrostatic Actuators

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This article proposes a disturbance observer (DOB)-based compliance control strategy for electrohydrostatic actuators (EHAs), particularly those with high gear reductions and long hydraulic pipelines, which could lead to a high performance interactive robot system. EHAs suffer significantly from internal leakage and friction, which hampers the application of existing compliance control methods to EHAs. Therefore, a two-degree-of-freedom (DoF) DOB is introduced to compensate for both undesirable effects separately; one degree of freedom handles friction observations and the other monitors internal leakage. Then, a compliance controller is designed without affecting the closed-loop stability. To this end, the state of the nominal plant, not the real plant, is used in the designs of the internal leakage observer and the compliance controller as it guarantees closed-loop stability. The asymptotic convergence of the closed-loop system is evaluated via simulations and experiments.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2020-02
Language
English
Article Type
Article
Citation

IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.25, no.1, pp.195 - 206

ISSN
1083-4435
DOI
10.1109/TMECH.2019.2958490
URI
http://hdl.handle.net/10203/275899
Appears in Collection
EE-Journal Papers(저널논문)
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