Adaptive reaction torque/force observer design II

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1168-1173
ページ数6
ISBN(印刷版)9781479923991
DOI
出版ステータスPublished - 2014 1 1
イベント2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
継続期間: 2014 6 12014 6 4

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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