TY - GEN
T1 - Robust Position Control of Series Elastic Actuators Using a Linear Quadratic Integral Tracker
T2 - 21st Chinese Intelligent Systems Conference, CISC 2025
AU - Jia, Donghao
AU - Xia, Xiubo
AU - Liu, Junhang
AU - Zhang, Pu
AU - Li, Re
AU - Zheng, Yu
AU - Sun, Jian
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
PY - 2026
Y1 - 2026
N2 - Series elastic actuators (SEAs) have excellent structural advantages and safety performance, but they also bring a series of control challenges such as high-order system dynamics and increased parameter uncertainty. In response to the requirements of accuracy, robustness and ease of use in the position control of high-performance SEA systems, this paper proposes a robust position control method based on a linear quadratic integral (LQI) tracker. This paper first establishes the dynamic model of the SEA system, introduces the LQI controller into the position tracking task, systematically derives the controller design process and performs closed-loop stability analysis. In both simulation and hardware experiments, the proposed LQI control method exhibits good tracking accuracy and robustness. The results show that this method can effectively cope with load disturbances and model uncertainties, and meet the needs of high-performance position control in practical engineering applications.
AB - Series elastic actuators (SEAs) have excellent structural advantages and safety performance, but they also bring a series of control challenges such as high-order system dynamics and increased parameter uncertainty. In response to the requirements of accuracy, robustness and ease of use in the position control of high-performance SEA systems, this paper proposes a robust position control method based on a linear quadratic integral (LQI) tracker. This paper first establishes the dynamic model of the SEA system, introduces the LQI controller into the position tracking task, systematically derives the controller design process and performs closed-loop stability analysis. In both simulation and hardware experiments, the proposed LQI control method exhibits good tracking accuracy and robustness. The results show that this method can effectively cope with load disturbances and model uncertainties, and meet the needs of high-performance position control in practical engineering applications.
KW - Linear Quadratic Integral(LQI)
KW - Position control
KW - Series elastic actuator
UR - https://www.scopus.com/pages/publications/105040352578
U2 - 10.1007/978-981-95-6557-3_41
DO - 10.1007/978-981-95-6557-3_41
M3 - 会议稿件
AN - SCOPUS:105040352578
SN - 9789819565566
T3 - Lecture Notes in Electrical Engineering
SP - 417
EP - 430
BT - Proceedings of 2025 Chinese Intelligent Systems Conference - Volume 2
A2 - Jia, Yingmin
A2 - Zhang, Weicun
A2 - Fu, Yongling
A2 - Liu, Yang
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 25 October 2025 through 26 October 2025
ER -