Enhanced Unknown System Dynamics Estimator with Measurement Noise Rejection for Series Elastic Actuators

Implementing the model-based control strategy for Series Elastic Actuators (SEAs) is not an easy task due to its complicated unknown system dynamics in the force models such as modeling uncertainties and measurement noise. In this paper, an enhanced unknown system dynamics estimator (EUSDE) is prese...

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Bibliographic Details
Published in:IEEE access 2024-01, Vol.12, p.1-1
Main Authors: Li, Chenghuan, Chen, Siyu, Na, Jing, Huang, Yingbo, Ma, Jun
Format: Article
Language:English
Subjects:
Actuators
Convergence
Estimation error
Frequency-domain analysis
measurement noise rejection
Measurement uncertainty
Noise measurement
Rejection
Sea measurements
Series elastic actuator
System dynamics
unknown system dynamics estimator
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Summary:Implementing the model-based control strategy for Series Elastic Actuators (SEAs) is not an easy task due to its complicated unknown system dynamics in the force models such as modeling uncertainties and measurement noise. In this paper, an enhanced unknown system dynamics estimator (EUSDE) is presented for the SEAs to online estimate the lumped unknown system dynamics in real time with guaranteed convergence and noise rejection response. The proposed approach is an extension of our previously developed unknown system dynamics estimator (USDE). The key idea is to further address the sensitivity of the USDE to measurement noise to further enhance the estimation and control performance. In this line, a high-order filter is further introduced to the design and analysis of USDE. Moreover, this study also provides a comparative analysis of USDE and EUSDE from both the time-domain and frequency-domain perspectives. Finally, comparative simulation and experimental results are provided to demonstrate the effectiveness of the proposed methods.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3382208