# series-elastic-actuation-impedance-control
This repo addresses impedance controller design problem of a class of SEA cascaded control architectures, which is composed of outer-impedance and inner-torque feedback loops. Our study proposes gain design criterion solving optimal controller gains by maximizing phase-margin-based stability. Meanwhile, we observe a trade-off between impedance and torque controller gains and analyze their interdependence in terms of closed-loop stability and overall impedance performance. With the proposed controller design criterion, we adopt frequency-domain methods to thoroughly analyze the effects of time delays, filtering and load inertia on SEA impedance performance. A novel impedance performance metric, defined as "Z-region", is proposed to simultaneously quantify achievable impedance magnitude range (i.e., Z-width) and frequency range (i.e., Z-depth). Maximizing the Z-region enables SEA-equipped robots to achieve a wide variety of impedance tasks without alternating the control structure.
This is a MATLAB algorithm implementation of the demos in the following paper:
Y. Zhao, S. Jorgensen, N. Paine, L. Sentis, [Impedance Control and Performance Measure of Series Elastic Actuators](http://sites.utexas.edu/hcrl/files/2016/01/08016601.pdf), IEEE Transactions on Industrial Electronics, 2018, 65(3), 2817-2827.
A video of experimental validation is attached [here](https://youtu.be/biIdlcAMPyE)
Please feel free to try the demo scripts. Your open issues/questions/comments are welcome (yezhao@utexas.edu, lsentis@austin.utexas.edu).
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series-elastic-actuation-impedance-control:串联弹性执行器的阻抗控制
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2021-05-01
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串联弹性驱动阻抗控制 此回购解决了由外部阻抗和内部转矩反馈回路组成的SEA级联控制体系结构中的阻抗控制器设计问题。 我们的研究提出了一种增益设计准则,通过最大化基于相位裕度的稳定性来解决最佳控制器增益。 同时,我们观察到阻抗和转矩控制器增益之间的折衷,并根据闭环稳定性和整体阻抗性能分析它们的相互依赖性。 根据提出的控制器设计标准,我们采用频域方法来彻底分析时间延迟,滤波和负载惯量对SEA阻抗性能的影响。 提出了一种新颖的阻抗性能度量,定义为“ Z区域”,以同时量化可实现的阻抗幅度范围(即Z宽度)和频率范围(即Z深度)。 最大化Z区域可使配备SEA的机器人无需改变控制结构即可完成各种各样的阻抗任务。 这是以下白皮书中演示的MATLAB算法实现: Y.Zhao,S.Jorgensen,N.Paine,L.Sentis ,IEEE Transactions on Industrial Ele
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