Barrier Lyapunov Function-Based Robust Control of Variable Stiffness Actuator Using Multi-Domain Disturbance Compensation

Tianci Wang; Guoqiang Zhao; Hongliang Guo; Chunhua Liu

doi:10.1109/TIE.2026.3722988

Barrier Lyapunov Function-Based Robust Control of Variable Stiffness Actuator Using Multi-Domain Disturbance Compensation

Tianci Wang
, Guoqiang Zhao
, Hongliang Guo
, Chunhua Liu^*

^*Corresponding author for this work

School of Energy and Environment

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Abstract

Compliant control of variable stiffness actuators (VSAs) requires accurate external torque estimation and comprehensive disturbance compensation. Conventional single-side encoder methods yield only lumped disturbance estimates, which prevent accurate force-sensor-free external torque reconstruction for impedance-based control. To address this limitation, this article proposes a novel control architecture that includes a multi-domain disturbance observer (MD-DOB) for separate estimation and compensation of internal and external disturbances without the need for a costly and bulky force sensor, and a barrier Lyapunov function-based feedforward control for suppression of output turbulence and enhancement of dynamic responsiveness. The resulting barrier Lyapunov function (BLF)-augmented multi-domain compensation controller (BLF-MDCC) is experimentally validated via disturbance rejection and trajectory tracking tests, demonstrating reduced position tracking error and robust performance under interactive operating conditions. © 2026 IEEE

Original language	English
Number of pages	13
Journal	IEEE Transactions on Industrial Electronics
DOIs	https://doi.org/10.1109/TIE.2026.3722988
Publication status	Online published - 1 Sept 2026

Funding

This work was supported in part by the Collaborative Research Fund (CRF) through the Research Grants Council, Hong Kong SAR, under Project C1052-21GF, in part by the General Research Fund through Research Grants Council, Hong Kong SAR, under Project 11217623, and in part by the RGC Research Fellow Scheme (RGC) through the Research Grants Council, Hong Kong SAR, under Grant RFS2223-1S05.

Research Keywords

Barrier Lyapunov function (BLF)
disturbance compensation
multi-domain disturbance observer (MD-DOB)
position tracking
variable stiffness actuators (VSAs)

RGC Funding Information

RGC-funded

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10.1109/TIE.2026.3722988

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GRF: Noncontact Electromechanical Energy Conversion System: A Novel Wireless Electromagnetic Actuator for Direct Manipulating Apparatus
LIU, C. (Principal Investigator / Project Coordinator) & Song, Z. (Co-Investigator)
1/01/24 → …
Project: Research
RFS: Development of Advanced Electric Machines and Smart Power Drives for Electric Propulsion
LIU, C. (Principal Investigator / Project Coordinator)
1/01/23 → …
Project: Research

Cite this

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title = "Barrier Lyapunov Function-Based Robust Control of Variable Stiffness Actuator Using Multi-Domain Disturbance Compensation",

abstract = "Compliant control of variable stiffness actuators (VSAs) requires accurate external torque estimation and comprehensive disturbance compensation. Conventional single-side encoder methods yield only lumped disturbance estimates, which prevent accurate force-sensor-free external torque reconstruction for impedance-based control. To address this limitation, this article proposes a novel control architecture that includes a multi-domain disturbance observer (MD-DOB) for separate estimation and compensation of internal and external disturbances without the need for a costly and bulky force sensor, and a barrier Lyapunov function-based feedforward control for suppression of output turbulence and enhancement of dynamic responsiveness. The resulting barrier Lyapunov function (BLF)-augmented multi-domain compensation controller (BLF-MDCC) is experimentally validated via disturbance rejection and trajectory tracking tests, demonstrating reduced position tracking error and robust performance under interactive operating conditions. {\textcopyright} 2026 IEEE",

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author = "Tianci Wang and Guoqiang Zhao and Hongliang Guo and Chunhua Liu",

year = "2026",

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day = "1",

doi = "10.1109/TIE.2026.3722988",

language = "English",

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TY - JOUR

T1 - Barrier Lyapunov Function-Based Robust Control of Variable Stiffness Actuator Using Multi-Domain Disturbance Compensation

AU - Wang, Tianci

AU - Zhao, Guoqiang

AU - Guo, Hongliang

AU - Liu, Chunhua

PY - 2026/9/1

Y1 - 2026/9/1

N2 - Compliant control of variable stiffness actuators (VSAs) requires accurate external torque estimation and comprehensive disturbance compensation. Conventional single-side encoder methods yield only lumped disturbance estimates, which prevent accurate force-sensor-free external torque reconstruction for impedance-based control. To address this limitation, this article proposes a novel control architecture that includes a multi-domain disturbance observer (MD-DOB) for separate estimation and compensation of internal and external disturbances without the need for a costly and bulky force sensor, and a barrier Lyapunov function-based feedforward control for suppression of output turbulence and enhancement of dynamic responsiveness. The resulting barrier Lyapunov function (BLF)-augmented multi-domain compensation controller (BLF-MDCC) is experimentally validated via disturbance rejection and trajectory tracking tests, demonstrating reduced position tracking error and robust performance under interactive operating conditions. © 2026 IEEE

AB - Compliant control of variable stiffness actuators (VSAs) requires accurate external torque estimation and comprehensive disturbance compensation. Conventional single-side encoder methods yield only lumped disturbance estimates, which prevent accurate force-sensor-free external torque reconstruction for impedance-based control. To address this limitation, this article proposes a novel control architecture that includes a multi-domain disturbance observer (MD-DOB) for separate estimation and compensation of internal and external disturbances without the need for a costly and bulky force sensor, and a barrier Lyapunov function-based feedforward control for suppression of output turbulence and enhancement of dynamic responsiveness. The resulting barrier Lyapunov function (BLF)-augmented multi-domain compensation controller (BLF-MDCC) is experimentally validated via disturbance rejection and trajectory tracking tests, demonstrating reduced position tracking error and robust performance under interactive operating conditions. © 2026 IEEE

KW - Barrier Lyapunov function (BLF)

KW - disturbance compensation

KW - multi-domain disturbance observer (MD-DOB)

KW - position tracking

KW - variable stiffness actuators (VSAs)

U2 - 10.1109/TIE.2026.3722988

DO - 10.1109/TIE.2026.3722988

M3 - RGC 21 - Publication in refereed journal

SN - 0278-0046

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

ER -

Barrier Lyapunov Function-Based Robust Control of Variable Stiffness Actuator Using Multi-Domain Disturbance Compensation

Abstract

Funding

Research Keywords

RGC Funding Information

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Projects

GRF: Noncontact Electromechanical Energy Conversion System: A Novel Wireless Electromagnetic Actuator for Direct Manipulating Apparatus

RFS: Development of Advanced Electric Machines and Smart Power Drives for Electric Propulsion

Cite this