Adaptive reaction torque/force observer design i

Emre Sariyildiz, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper proposes a new adaptive design method for the robust force control systems based on disturbance observer (DOB). A DOB is a robust control tool that is widely used in motion control applications. It can also be used to estimate environmental impedance by identifying system uncertainties and is called as reaction torque/force observer (RTOB/RFOB). A RTOB/RFOB has several superiorities over a force sensor such as higher bandwidth, sensorless force control, stability improvement etc., so it can be used in force control implementations effectively. However, there is no systematic analysis and design methods for a RTOB/RFOB based robust force control system; therefore, its stability and performance highly depend on designers own experiences. A new adaptive design method is proposed by estimating environmental impedance. It adjusts not only the force control gain, but also the bandwidths of a DOB and a RTOB/RFOB and the ratio between uncertain and nominal inertias. In this paper, it is assumed that environmental impedance can be modeled by considering only stiffness or damping. The validity of the proposal is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages563-568
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Observer Design
Force Control
Force control
Torque
Disturbance Observer
Robust control
Robust Control
Impedance
Design Method
Adaptive Design
Adaptive Method
Bandwidth
Control System
Sensorless Control
Control systems
Force Sensor
Motion Control
Motion control
Inertia
Categorical or nominal

Keywords

  • Adaptive Control
  • Disturbance Observer
  • Motion Control Systems
  • Reaction Torque/Force Observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Sariyildiz, E., & Ohnishi, K. (2014). Adaptive reaction torque/force observer design i. In International Workshop on Advanced Motion Control, AMC (pp. 563-568). [6823343] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823343

Adaptive reaction torque/force observer design i. / Sariyildiz, Emre; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 563-568 6823343.

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

Sariyildiz, E & Ohnishi, K 2014, Adaptive reaction torque/force observer design i. in International Workshop on Advanced Motion Control, AMC., 6823343, Institute of Electrical and Electronics Engineers Inc., pp. 563-568, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823343
Sariyildiz E, Ohnishi K. Adaptive reaction torque/force observer design i. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 563-568. 6823343 https://doi.org/10.1109/AMC.2014.6823343
Sariyildiz, Emre ; Ohnishi, Kouhei. / Adaptive reaction torque/force observer design i. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 563-568
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