Adaptive impedance control for unknown non-flat environment
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 c...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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World Academy of Science, Engineering and Technology
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf |
| _version_ | 1848783194662371328 |
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| author | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_facet | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_sort | Zainul Azlan, Norsinnira |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T16:17:29Z |
| format | Article |
| id | iium-47730 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T16:17:29Z |
| publishDate | 2013 |
| publisher | World Academy of Science, Engineering and Technology |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-477302016-07-15T03:10:07Z http://irep.iium.edu.my/47730/ Adaptive impedance control for unknown non-flat environment Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering 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. World Academy of Science, Engineering and Technology 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf 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 E-ISSN 2010-3778 http://waset.org/publications/5819/adaptive-impedance-control-for-unknown-non-flat-environment |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi Adaptive impedance control for unknown non-flat environment |
| title | Adaptive impedance control for unknown non-flat environment |
| title_full | Adaptive impedance control for unknown non-flat environment |
| title_fullStr | Adaptive impedance control for unknown non-flat environment |
| title_full_unstemmed | Adaptive impedance control for unknown non-flat environment |
| title_short | Adaptive impedance control for unknown non-flat environment |
| title_sort | adaptive impedance control for unknown non-flat environment |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/ http://irep.iium.edu.my/47730/1/adative_impedance_control_5.pdf |