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

Myo Thant Sin Aung, Ryo Kikuuwe

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2015 10th Asian Control Conference
ホスト出版物のサブタイトルEmerging Control Techniques for a Sustainable World, ASCC 2015
編集者Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781479978625
DOI
出版ステータス出版済み - 9 8 2015
イベント10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, マレーシア
継続期間: 5 31 20156 3 2015

出版物シリーズ

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

その他

その他10th Asian Control Conference, ASCC 2015
Countryマレーシア
CityKota Kinabalu
Period5/31/156/3/15

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

フィンガープリント 「Acceleration feedback and friction compensation for improving the stability of admittance control」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル