Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach

G. Hernandez-Melgarejo; L. A. Castaneda; A. Luviano-Juarez; I. Chairez

doi:10.1109/ACC.2016.7526497

Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach

G. Hernandez-Melgarejo, L. A. Castaneda, A. Luviano-Juarez, I. Chairez

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

1 Scopus citations

Abstract

In this article, a bilateral output feedback controller to solve the trajectory tracking problem of a Master-Slave mechanical system is designed. A robust disturbance rejection scheme was implemented to regulate the slave trajectory. A Linear Extended State Observer of GPI class was used to, both, estimate the non-measurable states of the mechanical systems as well as the global disturbance input, which was assumed to be a lumped signal from non-modelled dynamics and external forces in the slave side. The bilateral controller was synthesised by means of two feedback strategies: estimation of disturbances and impedance based control. Experimental results show the effectiveness of the control scheme in a manipulation task.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5284-5289
Number of pages	6
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526497
State	Published - 28 Jul 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	6/07/16 → 8/07/16

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10.1109/ACC.2016.7526497

Cite this

Hernandez-Melgarejo, G., Castaneda, L. A., Luviano-Juarez, A., & Chairez, I. (2016). Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach. In 2016 American Control Conference, ACC 2016 (pp. 5284-5289). Article 7526497 (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526497

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abstract = "In this article, a bilateral output feedback controller to solve the trajectory tracking problem of a Master-Slave mechanical system is designed. A robust disturbance rejection scheme was implemented to regulate the slave trajectory. A Linear Extended State Observer of GPI class was used to, both, estimate the non-measurable states of the mechanical systems as well as the global disturbance input, which was assumed to be a lumped signal from non-modelled dynamics and external forces in the slave side. The bilateral controller was synthesised by means of two feedback strategies: estimation of disturbances and impedance based control. Experimental results show the effectiveness of the control scheme in a manipulation task.",

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Hernandez-Melgarejo, G, Castaneda, LA, Luviano-Juarez, A & Chairez, I 2016, Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach. in 2016 American Control Conference, ACC 2016., 7526497, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 5284-5289, 2016 American Control Conference, ACC 2016, Boston, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7526497

Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach. / Hernandez-Melgarejo, G.; Castaneda, L. A.; Luviano-Juarez, A. et al.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5284-5289 7526497 (Proceedings of the American Control Conference; Vol. 2016-July).

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

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AB - In this article, a bilateral output feedback controller to solve the trajectory tracking problem of a Master-Slave mechanical system is designed. A robust disturbance rejection scheme was implemented to regulate the slave trajectory. A Linear Extended State Observer of GPI class was used to, both, estimate the non-measurable states of the mechanical systems as well as the global disturbance input, which was assumed to be a lumped signal from non-modelled dynamics and external forces in the slave side. The bilateral controller was synthesised by means of two feedback strategies: estimation of disturbances and impedance based control. Experimental results show the effectiveness of the control scheme in a manipulation task.

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Hernandez-Melgarejo G, Castaneda LA, Luviano-Juarez A , Chairez I. Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach. In 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5284-5289. 7526497. (Proceedings of the American Control Conference). doi: 10.1109/ACC.2016.7526497

Bilateral output based control of a Master-Slave mechanical system: An Active Disturbance Rejection approach

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