Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping DOI Creative Commons
Zhongjin Zhang, Zhitai Liu, Weiyang Lin

et al.

Biomimetics, Journal Year: 2024, Volume and Issue: 9(12), P. 780 - 780

Published: Dec. 21, 2024

Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios enhance system robustness precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for development of a dynamic model that incorporates compensation friction cogging forces. To address parameter uncertainties, indirect adaptation strategy based on recursive least squares algorithm introduced. It updates parameters state instead output error, ensuring robust convergence. integral sliding mode observer (ISMO) constructed estimate compensate residual achieving finite-time estimation. The proposed controller enables through parameterized laws, offering flexibility desired performance. System stability bounded tracking were validated via second-order Lyapunov function analysis. Experimental results real PMLSM demonstrated that, while ratio characteristics, there significant improvement accuracy suppression. underscores scheme’s potential advancing precision direct-drive applications.

Language: Английский

Design of Low-Cost Modular Bioinspired Electric-Pneumatic Actuator (EPA) Driven Legged Robots DOI Open Access

Alessandro Brugnera Silva,

Marc Murcia,

Omid Mohseni

et al.

Published: Feb. 2, 2024

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates utilization physical test benches to validate hypotheses regarding real-world applications locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating intricacies control strategies. Expanding upon our prior research in Electric-Pneumatic Actuation (EPA), we present mechanical electrical designs latest developments EPA robot series. These include Jumper, a human-sized segmented monopod robot, its extension Walker, bipedal robot. Both replicate human weight inertia distributions, featuring co-actuation through motors pneumatic artificial muscles. low-cost platforms, with considerations degrees freedom redundant actuation, 1) provide opportunities different locomotor subfunctions— stance, swing, balance; 2) help investigate role actuation schemes tasks such as hopping walking; 3) allow testing biological locomotors benches.

Language: Английский

Citations

2
Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping DOI Creative Commons
Zhongjin Zhang, Zhitai Liu, Weiyang Lin

et al.

Biomimetics, Journal Year: 2024, Volume and Issue: 9(12), P. 780 - 780

Published: Dec. 21, 2024

Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios enhance system robustness precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for development of a dynamic model that incorporates compensation friction cogging forces. To address parameter uncertainties, indirect adaptation strategy based on recursive least squares algorithm introduced. It updates parameters state instead output error, ensuring robust convergence. integral sliding mode observer (ISMO) constructed estimate compensate residual achieving finite-time estimation. The proposed controller enables through parameterized laws, offering flexibility desired performance. System stability bounded tracking were validated via second-order Lyapunov function analysis. Experimental results real PMLSM demonstrated that, while ratio characteristics, there significant improvement accuracy suppression. underscores scheme’s potential advancing precision direct-drive applications.

Language: Английский

Citations

0