DESIGNING OF DYNAMIC SURFACE CONTROL BASED ON BACKSTEPPING TECHNIQUE FOR SERIES ELASTIC ACTUATOR ROBOT
DOI:
https://doi.org/10.11113/aej.v14.20018Keywords:
Series elastic actuator, backstepping control, dynamic surface control, nonlinear system designAbstract
Serial elastic actuators have gained significant attention in robotics research due to their ability to meet safety requirements in physical interactions between humans and robots. However, one problem of series elastic actuator is the oscillation of the robot due to the flexibility of the robotic joints leading to a decline in the accuracy of the robot’s position control. In this paper, a dynamic surface control algorithm based on the backstepping technique for the position control of serial elastic actuator robot is proposed to overcome the oscillation problem. In addition, the proposed control algorithm has been proved to be stable and robust. The simulation results clearly demonstrate the effectiveness of the proposed method.
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