Name
Title | ||
|---|---|---|
Sensorless Force/Position Control of a Single-Acting Actuator Applied to Compliant Object Interaction |
Abstract | ||
|---|---|---|
This paper deals with a sensorless control approach of a lightweight electric actuator. Force and motion control are necessary to perform manipulation tasks with object interaction of different stiffnesses. The controller must ensure stability in a wide range of rigidity, particularly in soft contact cases. The approach proposed here is based on a force/position control scheme. First, a nonlinear position controller is performed through a linear parameter-varying state feedback. A state observer is added to estimate unmeasurable variables coming from an absence of terminal sensors. Subsequently, an output feedback force control is determined using an H∞ framework. The controller is experimentally applied on a single-acting actuator to demonstrate the efficiency of this approach dedicated to compliant object interaction. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/TIE.2014.2367465 | Industrial Electronics, IEEE Transactions |
Keywords | Field | DocType |
h∞ control,electric actuators,force control,linear parameter varying systems,motion control,nonlinear control systems,observers,position control,stability,state feedback,h∞ framework,compliant object interaction,lightweight electric actuator,linear parameter-varying state feedback,nonlinear position controller,output feedback force control,sensorless force-position control,single-acting actuator,soft contact cases,state observer,terminal sensors,compliant object,force/position control,lpv control,robust h∞ control,sensorless control,linear parameter-varying (lpv) control,robust ${cal h}_{infty}$ control,actuators,dc motors,force | Rigidity (psychology),State observer,Motion control,Control theory,Nonlinear system,Valve actuator,Control theory,DC motor,Control engineering,Engineering,Actuator | Journal |
Volume | Issue | ISSN |
62 | 6 | 0278-0046 |
Citations | PageRank | References |
3 | 0.45 | 14 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benoit Huard | 1 | 6 | 1.54 |
| Mathieu Grossard | 2 | 31 | 6.68 |
| Sandrine Moreau | 3 | 4 | 1.17 |
| Thierry Poinot | 4 | 95 | 16.74 |