NDLI: Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots

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Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots

Content Provider	Scilit
Author	Mohsen, Jalaeian- F. Fateh, Mohammad Mehdi Rahimiyan, Morteza
Copyright Year	2020
Description	SUMMARY This paper presents a bi-level adaptive computed-current impedance controller for electrically driven robots. This study aims to reduce calculation complexities by utilizing the electrical equations of actuators, instead of the entire model of the electromechanical system. Moreover, taking the dynamical effects of mechanical parts into account through the current’s feedback, external disturbances are compensated. In order to handle uncertainties, a bi-level optimization problem is formulated to obtain guaranteed stability besides the estimation convergence. An adaptation rule and its optimal tuning gain are achieved. The proposed method is applied to control of a rehabilitation robot to evaluate its performance.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/93CAA59B00965D809D2BA528ACC263A2/S0263574720000314a.pdf/div-class-title-bi-level-adaptive-computed-current-impedance-controller-for-electrically-driven-robots-div.pdf
Ending Page	216
Page Count	17
Starting Page	200
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574720000314
Journal	Robotica
Issue Number	2
Volume Number	39
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2021-02-01
Access Restriction	Open
Subject Keyword	Robotica Cybernetical Science Electrically Driven Robots (edrs) Rehabilitation Robot level Optimization Problem (blop) level Adaptive Control Impedance Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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