TY - GEN
T1 - Force sensor-less power assist control for low friction systems
AU - Salvucci, Valerio
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2010
Y1 - 2010
N2 - Nowadays aging population is increasing in many country. As a consequence power assist devices are growing in importance. Knowing the force that the user applies is a key aspect in the control of these devices. Force sensors are often used, even though they are generally expensive, heavy and characterized by time delay. To overcome these aspects, force sensor-less power assist control (FSPAC) aims to estimate the force to assist by using only encoders. However, FSPAC is generally not robust against plant uncertainties. In this paper, FSPAC with variable gain is proposed and implemented on a system representing a door, actuated by a linear motor. The results show that the proposed control design increases FSPAC's safety and robustness.
AB - Nowadays aging population is increasing in many country. As a consequence power assist devices are growing in importance. Knowing the force that the user applies is a key aspect in the control of these devices. Force sensors are often used, even though they are generally expensive, heavy and characterized by time delay. To overcome these aspects, force sensor-less power assist control (FSPAC) aims to estimate the force to assist by using only encoders. However, FSPAC is generally not robust against plant uncertainties. In this paper, FSPAC with variable gain is proposed and implemented on a system representing a door, actuated by a linear motor. The results show that the proposed control design increases FSPAC's safety and robustness.
UR - http://www.scopus.com/inward/record.url?scp=77953772705&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464120
DO - 10.1109/AMC.2010.5464120
M3 - Conference contribution
AN - SCOPUS:77953772705
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 290
EP - 295
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -