Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion

Joonho Lee; Hanz Richter

doi:10.1109/CCA.2016.7587969

Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion

Joonho Lee
, Hanz Richter

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We propose a new impedance controller using a multi-time-scale structure. Extended High-Gain Observers in the fastest time scale are used to estimate unmeasured system states and uncertainties in systems. Dynamic inversion in the second fastest time scale is employed to deal with uncertain input coefficients. An implicit tracking for joint-space control of workspace trajectories is realized through the dynamic inversion. The performance of the proposed impedance control is quantified by control parameters. Using the singular perturbation method, the closed-loop system stability is analyzed. The proposed control method is verified through numerical simulation.

Original language	English
Title of host publication	2016 IEEE Conference on Control Applications, CCA 2016
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1197-1202
Number of pages	6
ISBN (Electronic)	9781509007554
DOIs	https://doi.org/10.1109/CCA.2016.7587969
State	Published - Oct 10 2016
Event	2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina Duration: Sep 19 2016 → Sep 22 2016

Conference

Conference	2016 IEEE Conference on Control Applications, CCA 2016
Country/Territory	Argentina
City	Buenos Aires
Period	09/19/16 → 09/22/16

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10.1109/CCA.2016.7587969

Cite this

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title = "Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion",

abstract = "We propose a new impedance controller using a multi-time-scale structure. Extended High-Gain Observers in the fastest time scale are used to estimate unmeasured system states and uncertainties in systems. Dynamic inversion in the second fastest time scale is employed to deal with uncertain input coefficients. An implicit tracking for joint-space control of workspace trajectories is realized through the dynamic inversion. The performance of the proposed impedance control is quantified by control parameters. Using the singular perturbation method, the closed-loop system stability is analyzed. The proposed control method is verified through numerical simulation.",

author = "Joonho Lee and Hanz Richter",

year = "2016",

month = oct,

day = "10",

doi = "10.1109/CCA.2016.7587969",

language = "English",

pages = "1197--1202",

booktitle = "2016 IEEE Conference on Control Applications, CCA 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2016 IEEE Conference on Control Applications, CCA 2016 ; Conference date: 19-09-2016 Through 22-09-2016",

}

Lee, J & Richter, H 2016, Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion. in 2016 IEEE Conference on Control Applications, CCA 2016., 7587969, Institute of Electrical and Electronics Engineers Inc., usa, pp. 1197-1202, 2016 IEEE Conference on Control Applications, CCA 2016, Buenos Aires, Argentina, 09/19/16. https://doi.org/10.1109/CCA.2016.7587969

Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion. / Lee, Joonho; Richter, Hanz.
2016 IEEE Conference on Control Applications, CCA 2016. usa: Institute of Electrical and Electronics Engineers Inc., 2016. p. 1197-1202 7587969.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Richter, Hanz

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N2 - We propose a new impedance controller using a multi-time-scale structure. Extended High-Gain Observers in the fastest time scale are used to estimate unmeasured system states and uncertainties in systems. Dynamic inversion in the second fastest time scale is employed to deal with uncertain input coefficients. An implicit tracking for joint-space control of workspace trajectories is realized through the dynamic inversion. The performance of the proposed impedance control is quantified by control parameters. Using the singular perturbation method, the closed-loop system stability is analyzed. The proposed control method is verified through numerical simulation.

AB - We propose a new impedance controller using a multi-time-scale structure. Extended High-Gain Observers in the fastest time scale are used to estimate unmeasured system states and uncertainties in systems. Dynamic inversion in the second fastest time scale is employed to deal with uncertain input coefficients. An implicit tracking for joint-space control of workspace trajectories is realized through the dynamic inversion. The performance of the proposed impedance control is quantified by control parameters. Using the singular perturbation method, the closed-loop system stability is analyzed. The proposed control method is verified through numerical simulation.

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BT - 2016 IEEE Conference on Control Applications, CCA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

CY - usa

T2 - 2016 IEEE Conference on Control Applications, CCA 2016

Y2 - 19 September 2016 through 22 September 2016

ER -

Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion

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