NDLI: Generalized discussion on design of force-sensor-less Power Assist Control

Content Provider	IEEE Xplore Digital Library
Author	Sehoon Oh Hori, Y.
Copyright Year	2008
Description	Author affiliation: Sehoon Oh & Yoichi Hori Inst. of Ind. Sci., Univ. of Tokyo, Tokyo (Sehoon Oh; Hori, Y.)
Abstract	This paper generalizes the structure of force-sensor-less power assist control (FSPAC) which is a essential technology to design a feedback controller in a human-friendly way. Based on the analysis of the control structure, this paper clarifies the functions of the generalized force-sensor-less power assist control; particularly the functions of two force observers in FSPAC are made clear. Since the FSPAC consists of a positive feedback control, the robustness of the FSPAC is much weaker than the other power assist control with force sensors. This paper clarifies the trade-off between assistance performance and weak robustness in the FSPAC. Comparing power assist control derived from model following design and the disturbance observer based design, the limitation of assistance performance and methods to adjust the gain are revealed. Finally methodology of design the feedback gain in the FSPAC is discussed.
Starting Page	492
Ending Page	497
File Size	762612
Page Count	6
File Format	PDF
ISBN	9781424417025
DOI	10.1109/AMC.2008.4516116
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-03-26
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Force sensors Power system modeling Impedance Adaptive control Force measurement Design methodology Vehicle dynamics Delay estimation Noise robustness
Content Type	Text
Resource Type	Article

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