Design of Adaptive Controller for Bilateral Control Systems Including a Propeller-Driven System

被引:0
作者
Inukai, Masaya [1 ]
Yashiro, Daisuke [1 ]
Yubai, Kazuhiro [1 ]
Komada, Satoshi [1 ]
机构
[1] Mie Univ, Dept Elect & Elect Engn, Tsu, Mie, Japan
来源
IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2020年
关键词
bilateral control; adaptive controller; propeller-driven system; haptics; teleopration;
D O I
10.1109/iecon43393.2020.9255248
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Bilateral control systems including propeller-driven systems have been researched for tasks such as swiping motion, cooperative grasping and manipulation. Although some studies have proposed static controllers that do not change the gain of the controller, they are not robust against a modeling error in the stiffness of a contact object. This paper proposes an adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain. The validity of the proposed controller is verified via simulations and experiments.
引用
收藏
页码:148 / 153
页数:6
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