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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Robust force control based on compensation for parameter variations of dynamic environment
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Robust force control based on compensation for parameter variations of dynamic environment

机译：基于补偿动态环境参数变化的鲁棒力控制

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摘要

Force control strategies that are robust against disturbance and parameter variations are proposed. These strategies are expansions of disturbance observer-based control strategy, and require little computation. Observers are proposed that estimate parameter variations of the dynamic environment on which the force is imposed are introduced. Since the observer-based control represents a nominal system, a second derivative of force can be controlled. A force control strategy for controlling the second derivative of force is also proposed. The force response similar to the force command is realized by these strategies in spite of the disturbance and the parameter variations of the control object. The effectiveness of the proposed methods is confirmed by simulation and experimental results.
机译：提出了对干扰和参数变化具有鲁棒性的力控制策略。这些策略是基于干扰观测器的控制策略的扩展，几乎不需要计算。提出了观察者，其估计了施加力的动态环境的参数变化。由于基于观察者的控制表示名义系统，因此可以控制力的二阶导数。还提出了一种用于控制力的二阶导数的力控制策略。尽管受到控制对象的干扰和参数变化，但通过这些策略仍可实现类似于力命令的力响应。仿真和实验结果证实了所提方法的有效性。

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