Online identification and compensation of the force estimating error in sensor-less bilateral control system

Dapeng Tian, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

To solve the problem of force estimating error in reaction force observer based sensor-less bilateral control, the online identification and compensation method is proposed based on the recursive least squares algorithm with discontinuous projection mapping. The proposal can identify the system parameters in a fixed bounded range, which guarantees that good performance of the system are not influenced by the compensation. Besides, the force estimating error caused by the parameters mismatch can be canceled. According to experimental results, validity of the proposal is confirmed.

Original languageEnglish
Title of host publicationProceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
DOIs
Publication statusPublished - 2010 Dec 30
Event15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 - Bilbao, Spain
Duration: 2010 Sep 132010 Sep 16

Publication series

NameProceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010

Other

Other15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
CountrySpain
CityBilbao
Period10/9/1310/9/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

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  • Cite this

    Tian, D., & Ohnishi, K. (2010). Online identification and compensation of the force estimating error in sensor-less bilateral control system. In Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 [5641240] (Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010). https://doi.org/10.1109/ETFA.2010.5641240