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
Event15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 - Bilbao, Spain
Duration: 2010 Sep 132010 Sep 16

Other

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

Fingerprint

Control systems
Sensors
Compensation and Redress

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

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] 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.

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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 https://doi.org/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.
@inproceedings{19655e2f8d8b4c49beaf16d3208420df,
title = "Online identification and compensation of the force estimating error in sensor-less bilateral control system",
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.",
author = "Dapeng Tian and Kouhei Ohnishi",
year = "2010",
doi = "10.1109/ETFA.2010.5641240",
language = "English",
isbn = "9781424468508",
booktitle = "Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010",

}

TY - GEN

T1 - Online identification and compensation of the force estimating error in sensor-less bilateral control system

AU - Tian, Dapeng

AU - Ohnishi, Kouhei

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=78650576891&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78650576891&partnerID=8YFLogxK

U2 - 10.1109/ETFA.2010.5641240

DO - 10.1109/ETFA.2010.5641240

M3 - Conference contribution

SN - 9781424468508

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

ER -