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bi-level adaptive control

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Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots
Mohsen Jalaeian-F., Mohammad Mehdi Fateh, Morteza Rahimiyan
Journal:

Robotica / Volume 39 / Issue 2 / February 2021

Published online by Cambridge University Press:

28 May 2020, pp. 200-216
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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.