TY - GEN
T1 - Online identification and compensation of the force estimating error in sensor-less bilateral control system
AU - Tian, Dapeng
AU - Ohnishi, Kouhei
PY - 2010/12/30
Y1 - 2010/12/30
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78650576891&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650576891&partnerID=8YFLogxK
U2 - 10.1109/ETFA.2010.5641240
DO - 10.1109/ETFA.2010.5641240
M3 - Conference contribution
AN - SCOPUS:78650576891
SN - 9781424468508
T3 - Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
BT - Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
T2 - 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010
Y2 - 13 September 2010 through 16 September 2010
ER -