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Hierarchical control of series elastic actuators through control Lyapunov functions

Powell, Matthew J. and Ames, Aaron D. (2014) Hierarchical control of series elastic actuators through control Lyapunov functions. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2986-2992. ISBN 978-1-4673-6090-6.

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This paper addresses the control design problem of stabilizing both joint-angle and spring-torque control objectives in robots with series elastic actuators (SEAs). The proposed method is a hierarchical control scheme which employs rapidly exponentially stabilizing control Lyapunov functions (RES-CLFs) to obtain controllers for each tier in the scheme. The main result of the paper demonstrates that for a proper choice of controller parameters, applying the proposed controller to the SEA control system results in simultaneous exponential stability of the joint-angle and the spring-torque control objectives. Furthermore, it is shown that for a locally exponentially stable periodic orbit in the zero dynamics of the control system considered, the controller renders a corresponding orbit in the full SEA dynamics locally exponentially stable.

Item Type:Book Section
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Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. This research is supported by NASA grants NNX11AN06H and NNX12AQ68G, NSF grants CPS-1239085, CNS-0953823 and CNS-1136104, and the Texas Emerging Technology Fund.
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Texas Emerging Technology FundUNSPECIFIED
Record Number:CaltechAUTHORS:20190208-161258821
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Official Citation:M. J. Powell and A. D. Ames, "Hierarchical control of series elastic actuators through control Lyapunov functions," 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 2986-2992. doi: 10.1109/CDC.2014.7039848
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92809
Deposited By: Tony Diaz
Deposited On:10 Feb 2019 23:21
Last Modified:16 Nov 2021 03:53

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