Abstract
The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of start-stop motions of a mobile link. Then, the associated control problem to this nonlinear actuator is established and a backstepping design strategy adopted to develop Lyapunov-based nonlinear controllers that ensure asymptotic tracking of the desired laws of motion, which have been properly selected using time-optimal control. The approach is extended for bounded control inputs. Both simulation and experimental results are presented to show the effectiveness and feasibility of the proposed nonlinear control methods for the Dual Smart Drive.
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Supported by the Spanish Ministry of Education under Grant F.P.U.
Supported by the National Science Foundation under Grant No. ECS-0242798
Supported by the Spanish Ministry of Science and Technology under Grant Ramón y Cajal, Project “Theory of optimal Dual Drives for Automation and Robotics”
Roemi E. Fernández was born in Madrid, Spain, in 1977. She received the B.S. degree in Electronic Engineering from Santa Maria La Antigua University, Panamá, in 2000. She is currentlya PhD candidate at the Polytechnic University of Madrid, Spain and at the Industrial Automation Institute, which belongs to the Spanish Council for Scientific Research. Her research interests include nonlinear control theory, walking and climbing robots, resonance and quasi-resonance drives, and mechatronics.
Joáo P. Hespanha was born in Coimbra, Portugal, in 1968. He received the Licenciatura and the M.S. degree in electrical and computer engineering from Instituto Superior Técnico, Lisbon, Portugal, in 1991 and 1993, respectively, and the M.S. and Ph.D. degrees in electrical engineering and applied science from Yale University, New Haven, Connecticut, in 1994 and 1998, respectively. For his PhD work, Dr. Hespanha received Yale University's Henry Prentiss Becton Graduate Prize for exceptional achievement in research in Engineering and Applied Science.
Dr. Hespanha currently holds an Associate Professor position with the Department of Electrical and Computer Engineer at the University of California, Santa Barbara. From 1999 to 2001 he was an Assistant Professor at the University of Southern California, Los Angeles. His research interests include switching and hybrid systems; nonlinear control, both robust and adaptive; control of communication networks; the use of vision in feedback control; and stochastic games.
Dr. Hespanha is the recipient of an NSF CAREER Award (2001) and the 2002–2004 Automatica Theory/Methodology best paper prize. Since 2003, he has been an Associate Editor of the IEEE Transactions on Automatic Control.
Teodor Akinfiev received his M.S. degree from the Moscow State University and PhD degree from Mechanical Engineering Research Institute of the Academy of Sciences of Russia. From Year 1976 he was Researcher, Principal Researcher and Head of the Research Laboratory at the Mechanical Engineering Research Institute of the Academy of Sciences of Russia. From Year 1995 he holds Position at the Industrial Automation Institute, which belongs to the Spanish Council for Scientific Research. Teodor Akinfiev is the author over 200 publications (including more than 70 patents). His research interests include oscillation theory, mechanical engineering, control systems, robotics, intelligent drives, and mechatronics. In Year 2002 he was elected a Member of the Academy of Natural Sciences of Russia for his research cycle on resonance and quasi-resonance drives.
Manuel A. Armada received his PhD in Physics from the University of Valladolid (Spain) in 1979. Since 1976 he has been involved in research activities related to Automatic Control and Robotics. He has been working in more than forty RTD projects (European ones: EUREKA, ESPRIT, BRITE/EURAM, GROWTH, with Latin America: CYTED). He is member of the Russian Academy of Natural Sciences. Dr. Armada owns several patents and has published over 200 papers. He is currently the Head of the Automatic Control Department at the Instituto de Automatica Industrial (IAI-CSIC), being his main research in walking and climbing robots.
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Fernández, R., Hespanha, J., Akinfiev, T. et al. Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference. Auton Robot 19, 233–255 (2005). https://doi.org/10.1007/s10514-005-4044-0
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DOI: https://doi.org/10.1007/s10514-005-4044-0