Positioning control experiment switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control

Abstract

The authors have studied on the positioning control of a cart by means of a smooth switching from the servo access control (SAC) for automatic conveyance function to the impedance control (IC) for power-assisting function. The nonstationary optimal control (NOC) method and the force sensorless nonstationary impedance control (FSLIC) method were applied in a previous study. However, NOC requires the offline calculations for generating time-varying feedback gains. This letter shows the experimental result of smooth switching from the adaptive nonstationary servo control (ANSSC) to FSLIC. ANSSC generates the feedback gains online and realizes some adaptive control for parameter variations of a controlled object.