State observer control for robotic series elastic actuators

Frank Nixon Giraldo Ramos

doi:10.24054/rcta.v2i46.3801

Authors

Frank Nixon Giraldo Ramos Universidad Distrital Francisco José de Caldas https://orcid.org/0000-0001-8407-1831

DOI:

https://doi.org/10.24054/rcta.v2i46.3801

Keywords:

series elastic actuator, dynamic model, Robotics

Abstract

This implementation shows the results through a control state observer strategy for a series elastic actuator (SEA) of motorized robotic limbs, with the purpose of evaluate the disturbance response with regard to convetional PID controller. By implementing a Matlab® script, the goal was to evaluate the state observer controller for a series elastic actuator space state dynamic model in comparison with a conventional PID controller, verifying the behavior of each by adding disturbances. The advantages of the state observer control strategy with respect to the conventional PID controller could be verified. The state observer ensures that the series elastic actuator is not affected by disturbances, presenting better performance than the PID in SEA control. The Matlab® simulation of the state space dynamic model of the series elastic actuator and its control by a state observer, shows the advantage that it offers in its dynamic response in scenarios with disturbances and eliminates its effect on the process in steady state.

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References

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