{"title":"包括螺旋桨驱动系统在内的双边控制系统的自适应控制器设计","authors":"Masaya Inukai, D. Yashiro, K. Yubai, S. Komada","doi":"10.1109/IECON43393.2020.9255248","DOIUrl":null,"url":null,"abstract":"Bilateral control systems including propeller-driven systems have been researched for tasks such as swiping motion, cooperative grasping and manipulation. Although some studies have proposed static controllers that do not change the gain of the controller, they are not robust against a modeling error in the stiffness of a contact object. This paper proposes an adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain. The validity of the proposed controller is verified via simulations and experiments.","PeriodicalId":13045,"journal":{"name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","volume":"20 1","pages":"148-153"},"PeriodicalIF":0.0000,"publicationDate":"2020-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design of Adaptive Controller for Bilateral Control Systems Including a Propeller-Driven System\",\"authors\":\"Masaya Inukai, D. Yashiro, K. Yubai, S. Komada\",\"doi\":\"10.1109/IECON43393.2020.9255248\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Bilateral control systems including propeller-driven systems have been researched for tasks such as swiping motion, cooperative grasping and manipulation. Although some studies have proposed static controllers that do not change the gain of the controller, they are not robust against a modeling error in the stiffness of a contact object. This paper proposes an adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain. The validity of the proposed controller is verified via simulations and experiments.\",\"PeriodicalId\":13045,\"journal\":{\"name\":\"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society\",\"volume\":\"20 1\",\"pages\":\"148-153\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-10-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IECON43393.2020.9255248\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON43393.2020.9255248","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of Adaptive Controller for Bilateral Control Systems Including a Propeller-Driven System
Bilateral control systems including propeller-driven systems have been researched for tasks such as swiping motion, cooperative grasping and manipulation. Although some studies have proposed static controllers that do not change the gain of the controller, they are not robust against a modeling error in the stiffness of a contact object. This paper proposes an adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain. The validity of the proposed controller is verified via simulations and experiments.