Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer

Nozaki, Tsutomu; Mizoguchi, Takahiro; Ohnishi, Kouhei

doi:10.1109/tie.2013.2264788

Cited by 69 publications

(30 citation statements)

References 35 publications

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“…Table I lists the parameters used in the experiments. For difference in performance due to parameters, please refer to [21]. The identification of gravity force and friction force for RFOB was omitted, as these have a very small effect.…”

Section: Methodsmentioning

confidence: 99%

Extraction and realization of human actions

Nozaki

Tanida

Mizoguchi

et al. 2014

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)

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The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided to the slave robot. To attain the reproduction, a force control scheme is employed. The utility of the proposed method is experimentally verified by applying to a removal operation of a nut.

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Section: Methodsmentioning

confidence: 99%

Extraction and realization of human actions

Nozaki

Tanida

Mizoguchi

et al. 2014

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Even if the overall system is subjected to parametric uncertainties, time varying disturbances, and other uncertain nonlinearities, certain guaranteed robust transient performance and steady-state tracking accuracy can be achieved. For multi-degree of freedom system, Takahiro et al [44] expanded the diagonalization method based on the modal space disturbance observers, which suppresses the interferences between the position control and force control of the system. As a result, the bilateral control is realized, and that performance is better than the coordinated control.…”

Section: Nonlinear Control Algorithm Of Electro-hydraulic Control Systemmentioning

confidence: 99%

Review on Inlet/Outlet Oil Coordinated Control for Electro-Hydraulic Power Mechanism under Sustained Negative Load

Liu

Dong

2018

Applied Sciences

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Speed control and smooth regulation in an electro-hydraulic motion control system under negative load (over-running load) are crucial to mobile machineries, vehicles, and motion simulation equipment. Problems, such as bad natural stability, bad dynamic performance for small adjusting signal, serious coupling, and difficulty to coordinate between speed smoothness and speed regulation, exist in traditional valve-controlled and pump-controlled electro-hydraulic power mechanism. The coordinated motion control scheme, which is based on independent regulation of inlet/outlet oil for electro-hydraulic power mechanism has attracted the attention of many scholars. In the last two decades, many progresses had been made in coordinated control technology, employing in inlet/outlet independent metering and pump/valves independent regulation. Moreover, the technology has been widely used in the electro-hydraulic operating system in hydraulic excavator and the speed smoothness control system in heavy transport vehicles. In this study, recent advancements and upcoming trends in coordinated control and inlet/outlet independent metering for electro-hydraulic power mechanism under sustained negative load are reviewed. Firstly, related research advancements are summarized, including flow rate regulation mechanism based on inlet/outlet coordinated control, coordinated control strategy and nonlinear control method of electro-hydraulic control system. Then, nonlinear modeling of inlet/outlet independent metering and pump/valves independent regulation in electro-hydraulic control system is presented. In addition, the electro-hydraulic speed smoothness control and energy recovery for heavy engineering vehicles under long down-slope is discussed and reviewed. Finally, existing problems and future trends of inlet/outlet coordinated control for an electro-hydraulic power mechanism under sustained negative load are presented.

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“…In addition, g pd represents the bandwidth of the pseudo differentiator. Robust acceleration control (16)- (18) is realized by using a disturbance observer (DOB) (19)- (22) , whereas the force response is estimated by using a reaction force observer (RFOB) (23)- (25) without a force sensor.…”

Section: Control Systemmentioning

confidence: 99%

Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance

2017

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This paper proposes a new admittance realization control system based on feedforward compensation for highstiffness environments. In conventional admittance realization control systems, the poles of the control system can be designed using any design method. However, zeros are placed on the right side of the dominant pole in the pole placement diagram when the environmental stiffness and viscosity values are large. These zeros placed on the right side of the dominant pole deteriorate the frequency response.In contrast, the proposed admittance realization control system is used to design zeros at the desired frequency. Because the zeros are placed on the left side of the dominant pole, the frequency response of the high-frequency domain is improved. The validity of the proposed method is confirmed by analysis and experiments.

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Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer

Cited by 69 publications

References 35 publications

Extraction and realization of human actions

Extraction and realization of human actions

Review on Inlet/Outlet Oil Coordinated Control for Electro-Hydraulic Power Mechanism under Sustained Negative Load

Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance

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