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Positioning control experiment switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control
Author(s) -
Hara Susumu,
Yamada Yoji,
Lee Suwoong
Publication year - 2009
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20408
Subject(s) - control theory (sociology) , impedance control , servo control , servo , electrical impedance , control (management) , power (physics) , adaptive control , control engineering , function (biology) , computer science , engineering , physics , electrical engineering , evolutionary biology , quantum mechanics , artificial intelligence , biology
The authors have studied on the positioning control of a cart by means of a smooth switching from the servo access control (SAC) for automatic conveyance function to the impedance control (IC) for power‐assisting function. The nonstationary optimal control (NOC) method and the force sensorless nonstationary impedance control (FSLIC) method were applied in a previous study. However, NOC requires the offline calculations for generating time‐varying feedback gains. This letter shows the experimental result of smooth switching from the adaptive nonstationary servo control (ANSSC) to FSLIC. ANSSC generates the feedback gains online and realizes some adaptive control for parameter variations of a controlled object. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.