Stability enhancement of admittance control with acceleration feedback and friction compensation

Myo Thant Sin Aung, Ryo Kikuuwe

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and (c) sliding-mode-based noise filter with a variable gain. The PDD2 structure and the friction compensation are for expanding the bandwidth of the internal position-controlled subsystem. The sliding-mode-based filter is for the attenuation of noise in the acceleration signal without producing a large phase lag. The variable gain of the filter is for suppressing acceleration-measurement noise at low velocity. The proposed controller is validated by employing a 1-DOF device.

Original languageEnglish
Pages (from-to)110-118
Number of pages9
Publication statusPublished - Aug 2017

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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