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Asymptotically Stable Disturbance Observer-Based Compliance Control of Electro-Hydrostatic Actuators

Lee, Woongyong and Kim, MinJun and Chung, Wan Kyun (2019) Asymptotically Stable Disturbance Observer-Based Compliance Control of Electro-Hydrostatic Actuators. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. ISSN 1083-4435

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Abstract

This paper proposes a disturbance observer (DOB)-based compliance control strategy for electro-hydrostatic actu-ators (EHAs), particularly those with high gear reductions andlong hydraulic pipelines, which could lead to a high performanceinteractive robot system. EHAs suffer significantly from internal leakage and friction, which hampers the application of existing compliance control methods to EHAs. Therefore, a two-degree-of-freedom DOB is introduced to compensate for both undesirable effects separately; one degree of freedom handles friction observations and the other monitors internal leakage. Then, a compliance controller is designed without affecting the closed-loop stability. To this end, the state of the nominal plant, not the real plant, is used in the designs of the internal leakage observer and the compliance controller as it guarantees closed-loop stability. The asymptotic convergence of the closed-loop system is evaluated via simulations and experiments.

Item URL in elib:https://elib.dlr.de/132766/
Document Type:Article
Title:Asymptotically Stable Disturbance Observer-Based Compliance Control of Electro-Hydrostatic Actuators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lee, WoongyongPOSTECHUNSPECIFIED
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Chung, Wan KyunPOSTECHUNSPECIFIED
Date:2019
Journal or Publication Title:IEEE-ASME Transactions on Mechatronics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1083-4435
Status:Published
Keywords:Electro-hydrostatic actuator, compliance control, disturbance observer
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kim, MinJun
Deposited On:13 Dec 2019 13:44
Last Modified:13 Dec 2019 13:44

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