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Robust control algorithm using time delay estimation for speed mode of twisted string actuator

Title
Robust control algorithm using time delay estimation for speed mode of twisted string actuator
Authors
Lee, HyoryongChoi, HyunchulPark, JoowonPark, Sukho
DGIST Authors
Lee, Hyoryong; Choi, Hyunchul; Park, Joowon; Park, Sukho
Issue Date
2020-04
Citation
Mechanism and Machine Theory, 146, 103733
Type
Article
Article Type
Article
Author Keywords
DisturbancePayloadRobustnessTime delay controlTime delay estimationTwisted string actuator
Keywords
TENDON-DRIVENDESIGN
ISSN
0094-114X
Abstract
Twisted string actuators (TSAs) have been used where conversion of the rotational motion of a motor into a translatory motion by twisting two strings to control the length of the actuator is needed, e.g., in robot applications. Speed mode TSA (SM-TSA) improves the translatory motion achieved in previous TSAs by adding a shaft between two strings. However, the nonlinear response of the translatory displacements remains a problem. Modeling has been one approach, but payload changes or disturbances make it difficult to solve the nonlinear response of SM-TSA through modeling. Here, proportional–integral–derivative (PID) control and time delay control (TDC) in SM-TSA are evaluated as feedback mechanisms during translatory displacements. By following the desired trajectory through PID control and TDC under conditions of payload changes and spring disturbances in SM-TSA and evaluating tracking results, we show that both control methods can provide somewhat precise positional control in SM-TSA even if there are payload changes or spring disturbances. However, TDC shows smaller tracking errors and yields more robust performance against payload changes and disturbances compared to PID control. © 2019 Elsevier Ltd
URI
http://hdl.handle.net/20.500.11750/11375
DOI
10.1016/j.mechmachtheory.2019.103733
Publisher
Pergamon Press Ltd.
Related Researcher
  • Author Park, Sukho Multiscale Biomedical Robotics Laboratory
  • Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringMultiscale Biomedical Robotics Laboratory1. Journal Articles


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