Robust Impedance Control of Series Elastic Actuator for Human- Robot Teleoperation

Abstract

Series elastic actuator(SEA) has promising application in human-robot teleoperation area,which supplying inherent safety under unknown disturbance from inner or outer environment,compared with the limitation of rigid actuator in the past. In this paper,a kind of series elastic actuator feedback system model for teleoperation with robust impedance control was proposed. The control themes including traditional PI controller and (H∞) norm robust controller based on linear matrix inequality (LMI) was designed. Through experiment setting of step signal,impulse signal,and sinusoidal exciting,the results were obtained,simulated by Matlab/SIMULINK. Compared with un-controller system and PI control,the experiments had shown the effectiveness of the Hnorm robust control scheme. Finally,the improvements of the performance including the response time,rising time,and over shoot were illustrated.

Series elastic actuator(SEA) has promising application in human-robot teleoperation area,which supplying inherent safety under unknown disturbance from inner or outer environment,compared with the limitation of rigid actuator in the past. In this paper,a kind of series elastic actuator feedback system model for teleoperation with robust impedance control was proposed. The control themes including traditional PI controller and (H∞) norm robust controller based on linear matrix inequality (LMI) was designed. Through experiment setting of step signal,impulse signal,and sinusoidal exciting,the results were obtained,simulated by Matlab/SIMULINK. Compared with un-controller system and PI control,the experiments had shown the effectiveness of the Hnorm robust control scheme. Finally,the improvements of the performance including the response time,rising time,and over shoot were illustrated.