DocumentCode
3171744
Title
Online identification and compensation of the force estimating error in sensor-less bilateral control system
Author
Tian, Dapeng ; Ohnishi, Kouhei
Author_Institution
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear
2010
fDate
13-16 Sept. 2010
Firstpage
1
Lastpage
4
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.
Keywords
compensation; control system analysis; control systems; force control; least squares approximations; recursive estimation; torque control; compensation; discontinuous projection mapping; force estimating error; online identification; reaction force observer; recursive least squares algorithm; sensor-less bilateral control system;
fLanguage
English
Publisher
ieee
Conference_Titel
Emerging Technologies and Factory Automation (ETFA), 2010 IEEE Conference on
Conference_Location
Bilbao
ISSN
1946-0740
Print_ISBN
978-1-4244-6848-5
Type
conf
DOI
10.1109/ETFA.2010.5641240
Filename
5641240
Link To Document