Robust strict positive real control of variable stiffness actuators

Proceedings of the ... American Control Conference/Proceedings of the American Control Conference, pp. 3770–3775

Abstract

In this paper we develop a method to find the passivating parameter space for transfer function matrices with symbolic parameters. The method is subsequently applied to the mechanical-rotary variable impedance actuator (MeRIA), which belongs to the class of variable impedance actuators. The impedance control framework of MeRIA consists of cascaded control-loops guaranteeing a passive (positive real) load transfer function. We therefore focus on finding a robust impedance controller space by employing recursive parameter space testing with respect to the corresponding transfer function. Computed parameter spaces for the corresponding port function and simulations underline the performance of the algorithm.

Authors 4

1. Berno J.E. Misgeld Aachen Medical Information Technology (MedIT)

   RWTH Aachen University

   Affiliation as printed

   Medical Information Technology, Helmholtz- Institute, RWTH Aachen University, Aachen, Germany

2. Mathias Illian Aachen Medical Information Technology (MedIT)

   RWTH Aachen University

   Affiliation as printed

   Medical Information Technology, Helmholtz- Institute, RWTH Aachen University, Aachen, Germany

3. Lin Liu Aachen Medical Information Technology (MedIT)

   RWTH Aachen University

   Affiliation as printed

   Medical Information Technology, Helmholtz- Institute, RWTH Aachen University, Aachen, Germany

4. Steffen K. Leonhardt Aachen Medical Information Technology (MedIT)

   RWTH Aachen University

   Affiliation as printed

   Medical Information Technology, Helmholtz- Institute, RWTH Aachen University, Aachen, Germany