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Conventional control with nested loops including an acceleration loop
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| Author(s) |
Pierre-Philippe ROBET, Maxime GAUTIER |
| Abstract |
For haptic applications, the control of the effort around a position requires to minimize the effect of non-linearity of the viscous friction coefficient. The rejection capacity of this disturbance is therefore of great importance. It has been shown that introducing an acceleration loop decreases the position error significantly with torque perturbations. We propose to make a very simple control law with acceleration loop from a conventional control with nested loops. |
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| Filename: | 0001-epe2014-full-10265155.pdf |
| Filesize: | 127.6 KB |
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| Type |
Members Only |
| Date |
Last modified 2015-06-08 by System |
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