Study of dynamic performance and adaptive control of the variable stiffness actuator with time-varying parameters

Abstract

The study of dynamic performance and adaptive control of variable stiffness actuators with time-varying parameters is significant for the realization of stable and efficient human-computer interaction. In this paper, for the previously proposed variable stiffness actuator, the dynamics model of the variable stiffness actuator system is established according to the two-inertia-system theory, and the effects of time-varying parameters on the dynamic performance of the variable stiffness actuator system are analyzed. Then the adaptive control strategy of the variable stiffness actuator system with time-varying parameters is studied, and the correctness and effectiveness of the control strategy are verified experimentally. The results show that the time-varying parameters have a more obvious effect on the dynamic performance of the variable stiffness actuator system, and the difficulty in designing the system control strategy, which is caused by the complex dynamics modeling of variable stiffness actuator systems with time-varying parameters, can be effectively solved by using the proposed adaptive control strategy. Moreover, the control strategy has good stability and generalization ability.