State and disturbance estimation based on internal model control structure and its application to sensorless grasping control

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2007, Pages 2846-2851

  Suzuki, Ryoichi ^a   Fujiki, Nobuaki ^a   Sugawara, Akira ^a   Kobayashi, Nobuaki ^a   Ito, Kouhei ^b  

^a KANAZAWA INSTITUTE OF TECHNOLOGY   (Japan)

^b KANAZAWA TECHNICAL COLLEGE   (Japan)

Author keywords

Grasping control; Internal model control; Reduction of controller; State estimation; Unknown input estimation

Indexed keywords

ANNUAL CONFERENCE; APPROXIMATE INVERSES; DESIGN STRUCTURES; DISTURBANCE ESTIMATION; FORCE SENSORS; GRASPING CONTROL; GRASPING FORCE; HIGH-ORDER; IMC STRUCTURE; INTERNAL MODEL CONTROL; INVERSE SYSTEMS; REDUCED-ORDER; REDUCTION OF CONTROLLER; ROBOTIC HANDS; SENSOR-LESS; STATE ESTIMATION; UNKNOWN INPUT ESTIMATION;

CLOSED LOOP CONTROL SYSTEMS; CLOSED LOOP SYSTEMS; ESTIMATION; INDUSTRIAL ELECTRONICS; MODEL PREDICTIVE CONTROL; SEMICONDUCTING INTERMETALLICS;

ELECTRONICS INDUSTRY;

EID: 49949095286     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2007.4460253     Document Type: Conference Paper

References (9)

1. M. Higashimori and M. Kaneko, "Dynamic Preshaping for a Robot Hand Driven by a Single Wire (in Japanese)," Journal of JRSJ, vol. 22, No. 8, pp. 997-1003, 2004.
2. S. Hirose and S. Ma, "Coupled tendon-driven multijoint manipulator," IEEE Conf. on Robotics and Automation, pp. 1268-1275,1999.
3. H. Kobayashi, S. Katsura and K. Ohnishi, "An Analysis of Parameter Variations of Disturbance Observer for Haptic Motion Control," Proc. the 31st Annual Conference of the Industrial Electronics Society, IECON 2005, pp. 1907-1912, 2005.
4. M. Morari and E. Zafiriou, "Robust Process Control," Prentice Hall, 1989.
5. J.-H. She, X. Xin, Y. Ohyama, M. Wu and H. Kobayashi, "Vehicle Steering Control Based on Estimation of Equivalent Input Disturbance," Proc. 16th IFAC World Congress, 2005.
6. R. Suzuki, N. Kobayashi and M. Fujita, "Decoupling Control with a Limiting Form of Linear Optimal Regulator for Non-minimum Phase System," Electrical Engineering in Japan, No. 32-2, pp. 49-57, 1998.
7. R. Suzuki, M. Tani and N. Kobayashi, "Design and development of single side driven wheelchairs by using internal model control," Proc. IEEE Conference on Control Applications, pp. 355-360, 2002.
8. R. Suzuki, E. P. Hofer, et al., "Disturbance Estimation by Generalized Internal Model Control and Its Application to Assistive Devices for Rehabilitation Technology," Proc. IEEE Conference on Control Applications, pp. 921-926, 2006.
9. H. Kimura, "Perfect and Subperfect Regulation in Linear Multivariable Control Systems," Automatica, Vol. 18, No. 2, pp. 125-145, 1982.