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

Dapeng Tian; Kouhei Ohnishi

doi:10.1109/ETFA.2010.5641240

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

Dapeng Tian, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
DOIs	https://doi.org/10.1109/ETFA.2010.5641240
Publication status	Published - 2010 Dec 30
Event	15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 - Bilbao, Spain Duration: 2010 Sept 13 → 2010 Sept 16

Publication series

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

Other

Other	15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
Country/Territory	Spain
City	Bilbao
Period	10/9/13 → 10/9/16

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering

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10.1109/ETFA.2010.5641240

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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

Online identification and compensation of the force estimating error in sensor-less bilateral control system. / Tian, Dapeng; Ohnishi, Kouhei.
Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010. 2010. 5641240 (Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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, 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010, Bilbao, Spain, 10/9/13. https://doi.org/10.1109/ETFA.2010.5641240

Tian D, Ohnishi K. 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. 2010. 5641240. (Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010). doi: 10.1109/ETFA.2010.5641240

Tian, Dapeng ; Ohnishi, Kouhei. / Online identification and compensation of the force estimating error in sensor-less bilateral control system. Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010. 2010. (Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010).

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

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