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

Masaya Inukai, D. Yashiro, K. Yubai, S. Komada
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引用次数: 0

摘要

包括螺旋桨驱动系统在内的双边控制系统已被研究用于诸如滑动运动、协同抓取和操纵等任务。虽然一些研究已经提出静态控制器不改变控制器的增益,但它们对接触对象刚度的建模误差不具有鲁棒性。本文提出了一种实时估计接触对象刚度并利用刚度作为控制增益的自适应控制器。通过仿真和实验验证了所提控制器的有效性。
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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.
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