Nonlinear Disturbance Observer-based Robust Motion Control for Multi-joint Series Elastic Actuator-driven Robots
Shuaishuai Han Haoping Wang Haoyong Yu Shuaishuai Han Haoping Wang Haoyong Yu
Motion control of multi-joint Series Elastic Actuator (SEA)-driven robots still faces challenges including intrinsic oscillatory dynamics, high-order robotic dynamics, low-bandwidth inner loop, and dynamic nonlinearities. In this letter, a nonlinear disturbance observer (NDOB)-based robust controller with the singular perturbation theory is proposed to perform stable and precise motion control of ...