Stability enhancement of admittance control with acceleration feedback and friction compensation

Myo Thant Sin Aung, Ryo Kikuuwe

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and (c) sliding-mode-based noise filter with a variable gain. The PDD2 structure and the friction compensation are for expanding the bandwidth of the internal position-controlled subsystem. The sliding-mode-based filter is for the attenuation of noise in the acceleration signal without producing a large phase lag. The variable gain of the filter is for suppressing acceleration-measurement noise at low velocity. The proposed controller is validated by employing a 1-DOF device.

Original languageEnglish
Pages (from-to)110-118
Number of pages9
JournalMechatronics
Volume45
DOIs
Publication statusPublished - Aug 1 2017

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Friction
Acceleration measurement
Derivatives
Feedback
Position control
Bandwidth
Controllers
Compensation and Redress

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Stability enhancement of admittance control with acceleration feedback and friction compensation. / Aung, Myo Thant Sin; Kikuuwe, Ryo.

In: Mechatronics, Vol. 45, 01.08.2017, p. 110-118.

Research output: Contribution to journalArticle

Aung, Myo Thant Sin ; Kikuuwe, Ryo. / Stability enhancement of admittance control with acceleration feedback and friction compensation. In: Mechatronics. 2017 ; Vol. 45. pp. 110-118.
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