Title :
Disturbance estimation by observer-based stabilizing controller with simplified design and its applications to teleoperation
Author :
Suzuki, Ryoichi ; Ito, Yasuaki ; Kobayashi, Nobuaki
Author_Institution :
Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi
Abstract :
A new controller scheme based on the observer based stabilizing controller with a simplified design is proposed in this paper. The proposed controller scheme has position tracking property and disturbance estimation property. By applying these properties to teleoperation control, a master-slave system without force sensors is obtained. The effectiveness of the controller scheme is verified by experiments.
Keywords :
control system synthesis; stability; telecontrol; disturbance estimation; master-slave system; observer-based stabilizing controller; position tracking property; teleoperation control; Closed loop systems; Control systems; Force control; Force measurement; Force sensors; Grasping; Intelligent robots; Master-slave; Reflection; State estimation;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-2143-5
Electronic_ISBN :
978-1-4244-2144-2
DOI :
10.1109/MFI.2008.4648046
