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Robust Control of Series Elastic Actuator Using ISMC and DOB

Dongkyo Lee, Seungkyu Park, and Gunpyoung Kwak
Changwon National University/Electrical Engineering, Changwon, Korea

Abstract—This paper deals with the control problem of a series elastic actuator (SEA) which can realize a muscle strengthening robot at low cost. We designed and fabricated SEA with improved structure and designed robust controller for it. The robust controller implements the state feedback controller without the effect of disturbance by using the integral sliding mode control(ISMC) with the state feedback controller as a nominal controller. At the same time, by adding a disturbance observer, it can cope with the larger range of disturbance, and the chattering phenomenon is reduced by decreasing the gain of the variable control input, thereby improving the control performance of the SEA.

Index Terms—robust control, series elastic actuator, integral sliding mode, disturbance observer

Cite: Dongkyo Lee, Seungkyu Park, and Gunpyoung Kwak, "Robust Control of Series Elastic Actuator Using ISMC and DOB" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 1, pp. 25-29, January 2020. DOI: 10.18178/ijmerr.9.1.25-29