Stability enhancement of admittance control with acceleration feedback and friction compensation

Myo Thant Sin Aung; Ryo Kikuuwe

doi:10.1016/j.mechatronics.2017.06.011

Stability enhancement of admittance control with acceleration feedback and friction compensation

Myo Thant Sin Aung, Ryo Kikuuwe

Control Systems

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	110-118
Number of pages	9
Journal	Mechatronics
Volume	45
DOIs	https://doi.org/10.1016/j.mechatronics.2017.06.011
Publication status	Published - 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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10.1016/j.mechatronics.2017.06.011

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title = "Stability enhancement of admittance control with acceleration feedback and friction compensation",

abstract = "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.",

author = "Aung, {Myo Thant Sin} and Ryo Kikuuwe",

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AU - Aung, Myo Thant Sin

AU - Kikuuwe, Ryo

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N2 - 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.

AB - 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.

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SP - 110

EP - 118

JO - Mechatronics

JF - Mechatronics

ER -

Stability enhancement of admittance control with acceleration feedback and friction compensation

Abstract

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