Adaptive Command-Filtered Backstepping Control of Robot Arms With Compliant Actuators
Abstract
Compliant actuators are significant for safe physical human-robot interaction. Series elastic actuator (SEA) is the most popular type of compliant actuators, which possesses several attractive features, such as low output impedance, back drivability, shock tolerance, smooth force transmission, and energy efficiency. This brief focuses on the adaptive command-filtered backstepping control (CFBC) design for robot arms driven by SEAs. The CFBC alleviates the complexity problem in integrator backstepping control and has attracted great attention. However, experimental results of adaptive CFBC have not been reported. In this brief, a simplified adaptive CFBC framework is developed for robot arms driven by SEAs, where discontinuous friction is compensated for by an adaptive mechanism. Closed-loop stability is rigorously established by the Lyapunov synthesis and time-scales separation. Experimental results based on a single-link SEA-driven robot arm have been provided to verify the effectiveness of the proposed control strategy.
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A sampling period of 0.001 s is commonly used in robotic systems.
“In our experiments, 0.001 s is used because of the setting of our experimental system, which is also commonly used in robotic systems, such as [9], [39]-[42], [45], and [53].”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [9]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
- Authors
- Pan, Y., Wang, H., Li, X., & Yu, H.
- Affiliations
- National University of Singapore (SG)
- Chongqing University of Posts and Telecommunications (CN)
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2018-05
- Volume
- 26
- Issue
- 3
- Pages
- 1149-1156
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- OpenAlex
- W2623634636
- Cited by
- 210
- References
- 39
- Citations by year
- 2026: 8 · 2025: 26 · 2024: 20 · 2023: 25 · 2022: 24 · 2021: 27 · 2020: 31 · 2019: 27 · 2018: 18 · 2017: 4
- FWCI
- 13.74
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Control Systems Technology (publishedVersion)
- Funders
- Faculty Research Committee Tier 1, National University of Singapore (R-397-000-218-112)
- Defense Innovative Research Programme, MINDEF of Singapore (MINDEFNUSDIRP/2012/02)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Mechanical Engineering › Control Systems in Engineering
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Keywords
- series elastic actuator, compliant actuators, robot manipulators, physical human-robot interaction, adaptive control, friction compensation, Lyapunov stability, time-scale separation, single-link robot arm
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