Luenberger observer-based impedance control of linear servo motor for a desired haptic system

Hsueh, Po-Wen; Chen, Jyun-Ci; Yao, Wu-Sung; Tsai, Mi-Ching; Syu, Wei-Cheng

doi:10.1109/cacs.2013.6734122

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…Conventionally, it can be provided by a force or a torque sensor. Alternatively, it can be obtained by the observer-based approach [42,107,[145][146][147][148][149][150][151][152]. The latter requires a precise mechanical design, and, furthermore, it cannot compensate for modeling errors and uncertainties that, in sequence, impairs haptic fidelity.…”

Section: The Experimental Systemmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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Section: The Experimental Systemmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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“…Therefore, using model-based observers instead of force sensors has been recommended for estimating the human propel efforts of power-assist systems [5,6,8,16], in which only the excitation signal (i.e., the current input of a servo motor) and a measurable feedback signal (i.e., the motor position output information) are necessary for the presented observer. Further, the structure of the model-based observer primarily consists of five elements: excitation signal of the control system, sensor output, mathematical model of the control plant, a mathematical model of the sensor, and an observer compensator.…”

Section: Introductionmentioning

confidence: 99%

“…Further, the structure of the model-based observer primarily consists of five elements: excitation signal of the control system, sensor output, mathematical model of the control plant, a mathematical model of the sensor, and an observer compensator. Although the performance of an observer compensator with a pseudo-derivative feedback (PDF) controller has been verified in [6,8,16], the pseudo-derivative feedback feedforward (PDFF) controller is proposed to improve the transient response of the estimated external force in this study.…”

Section: Introductionmentioning

confidence: 99%

Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range

Hsueh¹,

Yao²,

Kao³

2022

Electronics

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Control design of power-assist systems has been widely applied to human-robot interactive systems such as wearable exoskeleton systems, of which the range of motion limitation of human joints in the power-assist systems is essential. This paper presents a virtual soft boundary design for a human-robot cooperation system with a limited operating range. The proposed virtual soft boundary is realized by impedance control and integrated into the power-assist robot arm system; meanwhile, power-assist robot arm systems are typical human-in-the-loop systems, and the control of the power-assist system in performing in accordance with a human’s perception is a significant issue. Therefore, a model-based disturbance observer with a pseudo-derivative feedback feedforward (PDFF) compensator is designed to effectively estimate the human’s torque for an appropriate motor torque command. Experimental results show that the proposed control method can estimate the human torque exerted on the robot arm system to achieve a power-assist system, and the virtual soft boundary can be realized by the impedance control and integrated into the power-assist robot arm system.

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Chattering-free sliding mode control algorithm for a haptic throttle lever

Hace

Golob

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Luenberger observer-based impedance control of linear servo motor for a desired haptic system

Cited by 5 publications

References 9 publications

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range

Chattering-free sliding mode control algorithm for a haptic throttle lever

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