文章基本信息

标题：Control of Actuators with Linearized Variable Stiffness
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作者：Sergei Savin ; Ramil Khusainov ; Alexandr Klimchik 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：13
页码：713-718
DOI：10.1016/j.ifacol.2019.11.199
语种：English
出版社：Elsevier
摘要：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.
关键词：Keywordsvariable stiffness actuatorsoptimal controllinearizationmodel-based control