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 language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 563-568 |
| Number of pages | 6 |
| ISBN (Print) | 9781479923243 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16 |
Other
| Other | 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 |
|---|---|
| Country | Japan |
| City | Yokohama |
| Period | 14/3/14 → 14/3/16 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive reaction torque/force observer design i
AU - Sariyildiz, Emre
AU - Ohnishi, Kouhei
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
KW - Adaptive Control
KW - Disturbance Observer
KW - Motion Control Systems
KW - Reaction Torque/Force Observer
UR - http://www.scopus.com/inward/record.url?scp=84903211235&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903211235&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823343
DO - 10.1109/AMC.2014.6823343
M3 - Conference contribution
AN - SCOPUS:84903211235
SN - 9781479923243
SP - 563
EP - 568
BT - International Workshop on Advanced Motion Control, AMC
PB - Institute of Electrical and Electronics Engineers Inc.
ER -