Paper Info
Title
FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation
Abstract
In this paper, a novel force-sensing method is proposed for a high-performance force control system based on friction-free and noise-free force observation. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer (DOB) (HDOB) and a Kalman filter is constructed to perform the force sensing. The HDOB is designed to estimate the force and reject oscillatory disturbances in the estimation. The force-sensing bandwidth is improved through effective noise suppression by the Kalman filter. Additionally, this paper proposes the application of the HDOB to the bilateral control system of a different master-slave mechanism. All the control algorithms are implemented in a field-programmable gate array with a high sampling rate that also enables the widening of the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.
Year
DOI
Venue
2014
10.1109/TIE.2013.2266081
IEEE Transactions on Industrial Electronics
Keywords
Field
DocType
observers,noise suppression,signal denoising,kalman filter,kalman filters,sampling rate,high-order disturbance observer,field-programmable gate array (fpga),disturbance observer (dob),force sensing method,multi-robot systems,control engineering computing,friction compensation,bilateral control system,control algorithm,force control,field programmable gate array,hdob,master-slave mechanism,fpga-based high-performance force control system,oscillatory disturbance,field programmable gate arrays,noise-free force observation,friction-free force observation,periodic signal
Alpha beta filter,Control theory,Sampling (signal processing),Field-programmable gate array,Control engineering,Kalman filter,Bandwidth (signal processing),Gate array,Engineering,Control system,Observer (quantum physics)
Journal
Volume
Issue
ISSN
61
2
0278-0046
Citations 
PageRank 
References 
11
0.78
25
Authors
4
Name
Order
Citations
PageRank
Thao Tran Phuong1153.67
Kiyoshi Ohishi241571.48
Yuki Yokokura37518.43
Chowarit Mitsantisuk413510.77