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Adaptive impedance control for unknown non-flat environment

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

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Abstract

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.

Item Type: Article (Journal)
Additional Information: 4494/47730
Uncontrolled Keywords: Adaptive impedance control, Function Approximation Technique (FAT), impedance control, unknown environment position.
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 16 Mar 2016 15:54
Last Modified: 15 Jul 2016 11:10
URI: http://irep.iium.edu.my/id/eprint/47730

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