Model independent friction compensation

Sankaranarayanan, S; Khorrami, Farshad

doi:10.1109/acc.1998.698578

Cited by 8 publications

(3 citation statements)

References 11 publications

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“…One way to suppress these disturbances, is to employ disturbance observers [4]. Disturbance observer based control has been used in applications such as independent robot joint control [5], and robot joint friction estimation and compensation [6], [7]. A considerable part of the existing literature on disturbance observer design for robotic applications uses linearized models or linear system techniques [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Control of nonlinear bilateral teleoperation systems subject to disturbances

Mohammadi

Tavakoli

Marquez

2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-Teleoperation systems, consisting of a pair of master and slave robots are subject to different types of disturbances such as joint frictions, varying contact points, unmodeled dynamics and unknown payloads. Such disturbances, when unaccounted for, cause poor teleoperation transparency and even instability. This paper presents a novel nonlinear bilateral control scheme, based on the concept of disturbance observer based control, to counter these disturbances and their negative effects on the teleoperation systems. The proposed disturbance observer based bilateral control law is able to acheive global asymptotic force tracking, and global exponential position and disturbance tracking in the presence of various disturbances. The minimum exponential convergence rate of the position and the disturbance tracking errors can be tuned by the controller parameters. Simulations are presented to show the effectiveness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Control of nonlinear bilateral teleoperation systems subject to disturbances

Mohammadi

Tavakoli

Marquez

2011

IEEE Conference on Decision and Control and European Control Conference

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“…. , and C 6 are chosen as in (19), (20) and (21). The controllers and disturbance observer gains and initial conditions are chosen as…”

Section: Simulation Studymentioning

confidence: 99%

“…Similar schemes have been used in applications such as control of direct drive motors, mechatronics system control [15], [16], [17], independent robot joint control [18], robot joint friction compensation [19], [20], and sensorless torque control of robotic manipulators [21], [22].…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer-based control of non-linear haptic teleoperation systems

Mohammadi

Tavakoli

Marquez

2011

IET Control Theory &Amp; Applications

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Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer in order to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer based control law is proposed for nonlinear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fastvarying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.

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Regelung elastischer und reibungsbehafteter Systeme

Schröder

Böcker

2021

Elektrische Antriebe – Regelung Von Antriebssystemen

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Model independent friction compensation

Cited by 8 publications

References 11 publications

Control of nonlinear bilateral teleoperation systems subject to disturbances

Control of nonlinear bilateral teleoperation systems subject to disturbances

Disturbance observer-based control of non-linear haptic teleoperation systems

Regelung elastischer und reibungsbehafteter Systeme

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