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

Dapeng Tian, Kouhei Ohnishi

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
DOI
出版物ステータスPublished - 2010 12 30
イベント15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 - Bilbao, Spain
継続期間: 2010 9 132010 9 16

出版物シリーズ

名前Proceedings 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
Spain
Bilbao
期間10/9/1310/9/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

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  • これを引用

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