Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking

摘要

This paper presents a robust force/torque-based impedance control that reacts to deviated motion by generating forces to achieve the desired impedance, particularly for high payload systems. One of the special cases of such systems is an assistive robot for paraplegics (ARP) with a sit-stand mechanism (STSM) and, therefore, its control is investigated. Recently, a nonlinear robust position control known as sliding mode control with sliding perturbation observer (SMCSPO) was implemented on STSM and proven its effectiveness. However, with increasing subject body mass, high switching control gains are required which consequently either result in increased tracking error or chattering in control performance. In this regard, a new framework of integrated control was proposed which combines the feature of impedance control with estimated information from SMCSPO resulting in an enhanced control algorithm. The advantage of this impedance control is that because of SMCSPO, it utilizes the linear system information with position feedback only to estimate the states and perturbation (nonlinearities, uncertainties, and disturbance). This estimated perturbation then helps in compensating the actual perturbation effect from the system response. Moreover, the impedance control excludes the saturation function which helps prevent the chattering with low control gains. The comparison simulation and experiment results of the proposed impedance control with SMCSPO validated the proposed algorithm which enhances the transient response with minimized estimation error and better perturbation estimation.