Acceleration feedback and friction compensation for improving the stability of admittance control

Myo Thant Sin Aung, Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper proposes a position control scheme that is suitable for the use as the internal position servo of an admittance controller. The proposed controller is characterized by four points: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation, (c) sliding-mode-based noise filtering, and (d) variable D2 gain. The PDD2 structure and the friction compensation are theoretically expected to contribute the stability of the admittance control by expanding the bandwidth of the internal position control system. The sliding-mode-based filter is for smoothing the acceleration signals without producing a large phase lag. The variable D2 gain is for reducing the effect of acceleration-measurement noise at low velocity. The proposed controller was tested with a 1-DOF device in contact with environments.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference
Subtitle of host publicationEmerging Control Techniques for a Sustainable World, ASCC 2015
EditorsHazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Publication series

Name2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Aung, M. T. S., & Kikuuwe, R. (2015). Acceleration feedback and friction compensation for improving the stability of admittance control. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244611] (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244611