DocumentCode
3051194
Title
Disturbance estimation by observer-based stabilizing controller with simplified design and its applications to teleoperation
Author
Suzuki, Ryoichi ; Ito, Yasuaki ; Kobayashi, Nobuaki
Author_Institution
Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
510
Lastpage
515
Abstract
A new controller scheme based on the observer based stabilizing controller with a simplified design is proposed in this paper. The proposed controller scheme has position tracking property and disturbance estimation property. By applying these properties to teleoperation control, a master-slave system without force sensors is obtained. The effectiveness of the controller scheme is verified by experiments.
Keywords
control system synthesis; stability; telecontrol; disturbance estimation; master-slave system; observer-based stabilizing controller; position tracking property; teleoperation control; Closed loop systems; Control systems; Force control; Force measurement; Force sensors; Grasping; Intelligent robots; Master-slave; Reflection; State estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location
Seoul
Print_ISBN
978-1-4244-2143-5
Electronic_ISBN
978-1-4244-2144-2
Type
conf
DOI
10.1109/MFI.2008.4648046
Filename
4648046
Link To Document