Stability enhancement of admittance control with acceleration feedback and friction compensation

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Mechatronics, ISSN: 0957-4158, Vol: 45, Page: 110-118

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Myo Thant Sin Aung; Ryo Kikuuwe
Elsevier BV
Engineering; Computer Science
article description
This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD 2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and (c) sliding-mode-based noise filter with a variable gain. The PDD 2 structure and the friction compensation are for expanding the bandwidth of the internal position-controlled subsystem. The sliding-mode-based filter is for the attenuation of noise in the acceleration signal without producing a large phase lag. The variable gain of the filter is for suppressing acceleration-measurement noise at low velocity. The proposed controller is validated by employing a 1-DOF device.