Predictor-based Tracking Control of a Class of Series Elastic Actuators With Input Delay

In this paper, tracking control of a class of series elastic actuators subject to unknown time-varying input delay and additive disturbances is investigated. To address the input delay, a novel predictor-like method is proposed in the control input which uses a predictor to compensate for the delay....

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 22; no. 9; pp. 2871 - 2881
Main Authors Ye, Hongwu, Gao, Tingting, Zhou, Yong, Huang, Jiangshuai
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.09.2024
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Actuators
Control
Delay
Engineering
Error analysis
Mechatronics
Regular Papers
Robotics
Robust control
Stability analysis
Tracking control
Tracking errors
제어계측공학
tracking control
nonlinear systems
predictor
Input delay
series elastic actuator systems
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ISSN1598-6446
2005-4092
DOI10.1007/s12555-023-0467-7

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Summary:In this paper, tracking control of a class of series elastic actuators subject to unknown time-varying input delay and additive disturbances is investigated. To address the input delay, a novel predictor-like method is proposed in the control input which uses a predictor to compensate for the delay. Lyapunov-Krasovskii functions are applied within Lyapunov-based stability analysis to show semi-globally uniformly ultimately bounded tracking errors. The control scheme is extended to the case that the input delay is unknown and time-varying. A constant estimate of the delay is determined to establish uniformly ultimately bounded convergence of the tracking error. Numerical simulation results illustrate the performance of the developed robust controller.
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http://link.springer.com/article/10.1007/s12555-023-0467-7
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-023-0467-7