Comparison of open-loop and closed-loop disturbance observers for series elastic actuators

Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

17 Citations (Scopus)

Abstract

This contribution compares two approaches for applying disturbance observers (DOBs) to the torque control problem of series elastic actuators (SEAs). It is demonstrated that they are in fact equivalent for linear models in terms of their ability to reject disturbances and enforce nominal model dynamics. The closed loop and error transfer functions for the DOBbased approaches are compared to a fully linear plant and a nonlinear plant without DOB. Simulations demonstrate that the DOBs are able to increase the bandwidth of the nonlinear plant significantly, up to that of the linear plant. Furthermore, the DOBs significantly increase the tracking accuracy at low frequencies.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages3842-3847
Number of pages6
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

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