Robust force control based on compensation for parameter variations of dynamic environment
Robust force control based on compensation for parameter variations of dynamic environment
复制标题
基于动态环境参数变化补偿的鲁棒力控制
DOI：
10.1109/41.184825
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
T. Hori
中科院分区：
文献类型：
--
作者：
S. Komada;K. Nomura;M. Ishida;T. Hori
提出了对干扰和参数变化具有鲁棒性的力控制策略。这些策略是基于扰动观测器的控制策略的扩展，并且需要很少的计算。提出了观测器来估计施加力的动态环境的参数变化。由于基于观测器的控制代表标称系统，因此可以控制力的二阶导数。还提出了控制力的二阶导数的力控制策略。无论控制对象存在干扰和参数变化，这些策略都可以实现与力命令类似的力响应。仿真和实验结果证实了所提出方法的有效性。 >
Force control strategies that are robust against disturbance and parameter variations are proposed. These strategies are expansions of disturbance observer-based control strategy, and require little computation. Observers are proposed that estimate parameter variations of the dynamic environment on which the force is imposed are introduced. Since the observer-based control represents a nominal system, a second derivative of force can be controlled. A force control strategy for controlling the second derivative of force is also proposed. The force response similar to the force command is realized by these strategies in spite of the disturbance and the parameter variations of the control object. The effectiveness of the proposed methods is confirmed by simulation and experimental results. >
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ