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

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2 Author(s)
Dapeng Tian ; Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China ; Ohnishi, K.

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.

Published in:
Emerging Technologies and Factory Automation (ETFA), 2010 IEEE Conference on

Date of Conference: 13-16 Sept. 2010

Page(s):
1 - 4
ISSN :
1946-0740
Print ISBN:
978-1-4244-6848-5
INSPEC Accession Number:
11662221
Conference Location :
Bilbao
Digital Object Identifier :
10.1109/ETFA.2010.5641240
Product Type:
Conference Publications

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