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To eliminate the static error, overshoot, and vibration of the series elasticactuator (SEA) position control, the resonance ratio control (RRC) algorithm isimproved based on L1 adaptive control(L1AC)method. Based on the analysis of thefactors affecting the control performance of SEA, the algorithm schema isproposed, the stability is proved, and the main control parameters areanalyzed. The algorithm schema is further improved with gravity compensation,and the predicted error and reference error is reduced to guarantee transientperformance. Finally, the effectiveness of the algorithm is validated bysimulation and platform experiments. The simulation and experiment results showthat the algorithm has good adaptability, can improve transient controlperformance, and can handle effectively the static error, overshoot, andvibration. In addition, when a link-side collision occurs, the algorithmautomatically reduces the link speed and limits the motor current, thusprotecting the humans and SEA itself, due to the low pass filtercharacterization of L1AC to disturbance.

L1 Adaptive Resonance Ratio Control for Series Elastic Actuator with Guaranteed Transient Performance