An Impedance Force Control Approach to a Quad-Rotor System Based on an Acceleration-Based Disturbance Observer

2013 ◽  
Vol 73 (1-4) ◽  
pp. 175-185 ◽  
Author(s):  
Seul Jung
Keyword(s):  
Force Control ◽  
Disturbance Observer ◽  
Rotor System ◽  
Control Approach

Disturbance-Observer-Based Force Estimation for Haptic Feedback

2010 ◽  
Vol 133 (1) ◽  
Author(s):  
Abhishek Gupta ◽  
Marcia K. O’Malley
Keyword(s):  
Force Control ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Haptic Feedback ◽  
Open Loop ◽  
Contact Forces ◽  
Haptic Interface ◽  
Force Sensing ◽  
Force Estimation ◽  
Control Approach

In this paper, we propose the use of a nonlinear disturbance-observer for estimation of contact forces during haptic interactions. Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device. However, closed-loop force feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. Using a disturbance-observer, we estimate contact forces at the tool tip, then use these estimates for closed-loop control of the haptic interface. Simulation and experimental results, utilizing a custom single degree-of-freedom haptic interface, are presented to demonstrate the efficacy of the proposed disturbance-observer (DO)-based control approach. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. Results show that the proposed disturbance-observer can reliably estimate contact forces at the human-robot interface. The DO-based control approach is experimentally shown to improve haptic interface fidelity over a purely open-loop display while maintaining stable and vibration-free interactions between the human user and virtual environment.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

Gain-Scheduled Control Approach by Logarithm Transformation for Electrical Vehicle Traction Force Control

2014 ◽  
Vol 619 ◽  
pp. 283-287
Author(s):  
Jieh Shian Young ◽  
Yu Bang Lin ◽  
Kuan Jie Chen ◽  
Po Ting Chen
Keyword(s):  
Force Control ◽  
Traction Force ◽  
Road Surface ◽  
Real Situation ◽  
Slip Ratio ◽  
Control Approach ◽  
Electrical Vehicle ◽  
And Control ◽  
Gain Scheduled

This paper proposes an approach by logarithm to evaluating the electrical vehicle traction force control directly instead of the slip ratio measurements. Utilizing the built character database of the driven motor, or so-called current-RPM-torque database, a gain-scheduled approach by logarithm transformation is developed to provide the appropriate traction force while one traction wheel of the vehicle is traveling into different road surface. An illustrated simulation with a scenario close to real situation is also given to show the feasibility to evaluate and control the traction force through the database of the motor.

Co-robotic ultrasound imaging: a cooperative force control approach

2017 ◽  
Author(s):  
Rodolfo Finocchi ◽  
Fereshteh Aalamifar ◽  
Ting Yun Fang ◽  
Russell H. Taylor ◽  
Emad M. Boctor
Keyword(s):  
Ultrasound Imaging ◽  
Force Control ◽  
Control Approach ◽  
Robotic Ultrasound
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