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dc.contributor.authorKim, Dongwon
dc.contributor.authorLee, Jinoh
dc.date.accessioned2021-01-12T15:42:26Z
dc.date.available2021-01-12T15:42:26Z
dc.date.issued2020-11-01
dc.identifier.urihttp://hdl.handle.net/10713/14332
dc.description.abstractRecently, series elasticity has been realized using pneumatics in human-robot interaction systems. Pneumatic circuits provide not only a flexible power transmission, but also the elastic element in a series elastic actuator (SEA). Pneumatic series elastic systems involve more than twice the number of parameters that influence system behaviors in comparison with rigid robotic systems. In this study, a position controller that eliminates the need of identifying a system model by employing the time delay estimation (TDE) technique is proposed for pneumatic SEA systems. The TDE technique is effective in compensating for system dynamics and all uncertainties involved in system behaviors without imposing computation load. TDE error is cancelled out through a learning way, which improves control performance and leads to asymptotic stability. A simulation study demonstrates the robustness of the proposed controllers against uncertainties imposed on the motor system as well as uncertainties on the end-effector. The simulation shows the efficacy of the learning compensation for TDE error.en_US
dc.description.sponsorshipNational Institutes of Healthen_US
dc.description.urihttps://doi.org/10.1016/j.jfranklin.2020.10.037en_US
dc.language.isoenen_US
dc.publisherElsevier Ltd.en_US
dc.relation.ispartofJournal of the Franklin Instituteen_US
dc.subjectpneumatic SEA systemsen_US
dc.subjecttime delay estimation techniqueen_US
dc.subject.meshRoboticsen_US
dc.titleRobust control of a system with a pneumatic springen_US
dc.typeArticleen_US
dc.identifier.doi10.1016/j.jfranklin.2020.10.037
dc.source.volume358
dc.source.issue1
dc.source.beginpage555
dc.source.endpage574


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