Control of Actuators with Linearized Variable Stiffness. Issue 13 (2019)

• Record Type: Journal Article
• Authors: Savin, Sergei; Khusainov, Ramil; Klimchik, Alexandr
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 13(2019)
• Page Start: 713
• Page End: 718
• Publication Date: 2019
• Subjects: variable stiffness actuators -- optimal control -- linearization -- model-based control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.11.199
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a new model of variable stiffness actuators (VSA) is presented. In the proposed model, the stiffness and deformation of the elastic element can be controlled independently. The structure of the model allows the use of optimal control methods, such as linear quadratic regulator, as is demonstrated in the paper. The model can be used in studying mechanical systems with VSA and in control design for such systems. In order to connect controllers designed for the proposed model with actual VSA, a map of control actions is needed. Such map is provided for the case of Qbmove bidirectional antagonistic VSA.