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: Contribution to conferencePaper

Abstract

© 2016 American Automatic Control Council (AACC). 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 languageAmerican English
Pages5284-5289
Number of pages4755
DOIs
StatePublished - 28 Jul 2016
EventProceedings of the American Control Conference -
Duration: 28 Jul 2016 → …

Conference

ConferenceProceedings of the American Control Conference
Period28/07/16 → …

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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. 5284-5289. Paper presented at Proceedings of the American Control Conference, . https://doi.org/10.1109/ACC.2016.7526497