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 被引用数 (Scopus)

抄録

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.

本文言語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
出版ステータスPublished - 2010
イベント15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010 - Bilbao, Spain
継続期間: 2010 9月 132010 9月 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
国/地域Spain
CityBilbao
Period10/9/1310/9/16

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 制御およびシステム工学

フィンガープリント

「Online identification and compensation of the force estimating error in sensor-less bilateral control system」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル