TY - GEN
T1 - Realization of fractional order impedance by feedback control
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2007
Y1 - 2007
N2 - Fractional order impedance control is proposer] in this paper to control power assistive devices in more human friendly way, A novel discretization method of a fractional order integrator is proposed based on a multirate filter approach. Optimal coefficients for the multirate fractional order integrator are decided using golden-ratio particle swarm optimization, Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. As another suggestion in this paper, force-sensor-less impedance control is introduced which uses only position information focusing on relationship between external force and motor force. The characteristics of fractional impedance are analyzed by simulations, and lastly future topics on fractional calculus application are explained.
AB - Fractional order impedance control is proposer] in this paper to control power assistive devices in more human friendly way, A novel discretization method of a fractional order integrator is proposed based on a multirate filter approach. Optimal coefficients for the multirate fractional order integrator are decided using golden-ratio particle swarm optimization, Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. As another suggestion in this paper, force-sensor-less impedance control is introduced which uses only position information focusing on relationship between external force and motor force. The characteristics of fractional impedance are analyzed by simulations, and lastly future topics on fractional calculus application are explained.
KW - Fractional order calculus
KW - Fractional order impedance
KW - Golden-section search
KW - Human-friendly motion control
KW - Impedance control
KW - Multirate sampling
KW - Particle swarm optimization
UR - https://www.scopus.com/pages/publications/49949111249
U2 - 10.1109/IECON.2007.4460307
DO - 10.1109/IECON.2007.4460307
M3 - Conference contribution
AN - SCOPUS:49949111249
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 299
EP - 304
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -