| Citation: | GAO Dong, SONG Zhibin, ZHAO Yaruet al. Disturbance observer applied in a nonlinear stiffness compliant actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6): 1328-1336. doi: 10.13700/j.bh.1001-5965.2017.0477(in Chinese)
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According to "low load, low stiffness; high load, high stiffness", nonlinear stiffness compliant actuators (NSCA) are developed to optimize the workspace of variable stiffness actuators (VSA). Besides, NSCAs are able to perform high force resolution under small interactive force and fast response under large interactive force. However, because it is difficult to set up accurate mathematic models for interference and noise in the complex human robot interaction environment, control accuracy of the system is deteriorated severely. Thus, disturbance observer (DOB), which evaluates disturbance based on observation and then compensates error, is discussed in this paper to settle these problems for NSCA. First, control system state function and DOB are built up according to dynamic model of NSCA. Lyapunov stability is used to analyze system stability and stable conditions are given. Second, based on the stable conditions, DOB control scheme is applied in NSCA control system to obtain experimental data. Finally, the experimental results shows that, using DOB reduces stiffness error of NSCA by 85.71% in the mode of impedance control and enhances control precision of the actuator obviously.
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