Adaptive impedance control for unknown non-flat environment

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive c...

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Main Authors:	Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format:	Article
Language:	English
Published:	World Academy of Science, Engineering and Technology 2013
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf

id	iium-47730
recordtype	eprints
spelling	iium-477302016-07-15T03:10:07Z http://irep.iium.edu.my/47730/ Adaptive impedance control for unknown non-flat environment Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller. World Academy of Science, Engineering and Technology 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2013) Adaptive impedance control for unknown non-flat environment. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering , 7 (2). pp. 191-196. ISSN 2010-376X E-ISSN 2010-3778 http://waset.org/publications/5819/adaptive-impedance-control-for-unknown-non-flat-environment
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi Adaptive impedance control for unknown non-flat environment
description	This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller.
format	Article
author	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan, Norsinnira
title	Adaptive impedance control for unknown non-flat environment
title_short	Adaptive impedance control for unknown non-flat environment
title_full	Adaptive impedance control for unknown non-flat environment
title_fullStr	Adaptive impedance control for unknown non-flat environment
title_full_unstemmed	Adaptive impedance control for unknown non-flat environment
title_sort	adaptive impedance control for unknown non-flat environment
publisher	World Academy of Science, Engineering and Technology
publishDate	2013
url	http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf
first_indexed	2023-09-18T21:07:53Z
last_indexed	2023-09-18T21:07:53Z
_version_	1777411056154443776

Adaptive impedance control for unknown non-flat environment

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