Extended internal model control scheme for sensorless force control on uneven surfaces

被引：0
|
作者：
Suzuki, Ryoichi [1 ]
Fujiki, Nobuaki [1 ]
Furuya, Shigehiko [1 ,2 ]
Kobayashi, Nobuaki
机构：
[1] Kanazawa Inst Technol, Dept Robot, 7-1 Nonoichi, Kanazawa, Ishikawa 9218501, Japan
[2] Kanazawa Tech Coll, Dept Mech Engn, Kanazawa, Ishikawa, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an extended internal model control (IMC) scheme for a sensorless force control on an uneven surface is proposed to such kind of surface-polishing, debarring and rubbing machines. The IMC controller scheme has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to force control on uneven surfaces, we propose a novel control scheme based on the IMC scheme, and discuss stability of the closed-loop system. Moreover, effectiveness of the proposed IMC scheme is confirmed by comparative experiments.
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页码：1380 / +
页数：2
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