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

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

doi:10.1109/IROS.2016.7759565

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 proceeding › Conference contribution › Academic › peer-review

20 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 language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	3842-3847
Number of pages	6
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759565
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

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10.1109/IROS.2016.7759565

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title = "Comparison of open-loop and closed-loop disturbance observers for series elastic actuators",

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.",

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Roozing, W, Malzahn, J, Caldwell, DG & Tsagarakis, NG 2016, Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759565, IEEE, pp. 3842-3847, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759565

Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. / Roozing, Wesley; Malzahn, Jörn; Caldwell, Darwin G. et al.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November IEEE, 2016. p. 3842-3847 7759565.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Roozing, Wesley

AU - Malzahn, Jörn

AU - Caldwell, Darwin G.

AU - Tsagarakis, Nikos G.

PY - 2016/11/28

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N2 - 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.

AB - 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.

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VL - 2016-November

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EP - 3847

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -

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

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