TY - GEN
T1 - Acceleration feedback and friction compensation for improving the stability of admittance control
AU - Aung, Myo Thant Sin
AU - Kikuuwe, Ryo
PY - 2015/9/8
Y1 - 2015/9/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84957631432&partnerID=8YFLogxK
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U2 - 10.1109/ASCC.2015.7244611
DO - 10.1109/ASCC.2015.7244611
M3 - Conference contribution
AN - SCOPUS:84957631432
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Asian Control Conference, ASCC 2015
Y2 - 31 May 2015 through 3 June 2015
ER -