Observer Backstepping for Nonlinear Drive Control
(2006) 45th IEEE Conference on Decision and Control, 2006 p.6217-6222- Abstract
- This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law
of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed... (More) - This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law
of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed nonlinear control method. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/942593
- author
- Fernández, Roemi ; Robertsson, Anders LU ; Johansson, Rolf LU ; Akinfiev, Teodor and Armada, Manuel
- organization
- publishing date
- 2006
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 45th IEEE Conf. Decision & Control (CDC2006)
- pages
- 6 pages
- conference name
- 45th IEEE Conference on Decision and Control, 2006
- conference location
- San Diego, CA, United States
- conference dates
- 2006-12-13 - 2006-12-15
- external identifiers
-
- scopus:39649114044
- DOI
- 10.1109/CDC.2006.377290
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- c4b3b338-e9be-4fee-8700-4484b127865c (old id 942593)
- date added to LUP
- 2016-04-04 14:08:04
- date last changed
- 2023-04-18 18:04:39
@inproceedings{c4b3b338-e9be-4fee-8700-4484b127865c, abstract = {{This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law<br/><br> of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed nonlinear control method.}}, author = {{Fernández, Roemi and Robertsson, Anders and Johansson, Rolf and Akinfiev, Teodor and Armada, Manuel}}, booktitle = {{Proc. 45th IEEE Conf. Decision & Control (CDC2006)}}, language = {{eng}}, pages = {{6217--6222}}, title = {{Observer Backstepping for Nonlinear Drive Control}}, url = {{http://dx.doi.org/10.1109/CDC.2006.377290}}, doi = {{10.1109/CDC.2006.377290}}, year = {{2006}}, }