无传感器双边控制系统力估计误差的在线辨识与补偿

2010 IEEE 15th Conference on Emerging Technologies & Factory Automation (ETFA 2010) Pub Date : 2010-11-18 DOI:10.1109/ETFA.2010.5641240

Dapeng Tian, K. Ohnishi

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引用次数: 2

摘要

针对基于反力观测器的无传感器双边控制中存在的力估计误差问题，提出了一种基于不连续投影映射递推最小二乘算法的在线辨识与补偿方法。该方法可以在固定的有界范围内识别系统参数，保证了系统的良好性能不受补偿的影响。此外，还可以消除由于参数不匹配而产生的力估计误差。实验结果验证了该方案的有效性。

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Online identification and compensation of the force estimating error in sensor-less bilateral control system

To solve the problem of force estimating error in reaction force observer based sensor-less bilateral control, the online identification and compensation method is proposed based on the recursive least squares algorithm with discontinuous projection mapping. The proposal can identify the system parameters in a fixed bounded range, which guarantees that good performance of the system are not influenced by the compensation. Besides, the force estimating error caused by the parameters mismatch can be canceled. According to experimental results, validity of the proposal is confirmed.

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来源期刊

2010 IEEE 15th Conference on Emerging Technologies & Factory Automation (ETFA 2010)

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