Adaptive reaction torque/force observer design II

Emre Sariyildiz, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper completes the proposal of a new adaptive reaction torque/force observer (RTOB/RFOB) design method. In the first paper, a new adaptive RTOB/RFOB design method is proposed when environmental impedance is considered as pure damping or stiffness. The proposed method can be used in several motion control applications, e.g., stiff model of environmental impedance is widely used in industrial applications. However, the exact adaptive RTOB/RFOB design method, in which environmental impedance is modeled by using damping and stiffness, has not been proposed yet. In this paper, a new adaptive RTOB/RFOB design method is proposed when damping and stiffness are considered in the model of environmental impedance. In the proposed method, not only the force control gain, but also the bandwidths of a disturbance observer (DOB) and a RTOB/RFOB and the ratios between uncertain and nominal inertias are adjusted automatically to improve the stability and performance of the robust force control system. Environmental impedance is modeled by using lumped parameters, and they are estimated by using an online recursive least-mean-square error algorithm. The validity of the proposal is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1168-1173
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

Keywords

  • Adaptive Control
  • Disturbance Observer
  • Motion Control Systems
  • Reaction Torque Observer
  • Robust Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Sariyildiz, E., & Ohnishi, K. (2014). Adaptive reaction torque/force observer design II. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1168-1173). [6864779] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864779