TY - GEN
T1 - Optimization of the impedance controller for the low impact docking
AU - Liu, Gangfeng
AU - Xie, Zenghui
AU - Li, Ge
AU - Li, Changle
AU - Zhao, Jie
AU - Li, Liyi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/24
Y1 - 2017/1/24
N2 - In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.
AB - In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.
KW - Co-simulation
KW - Distributed impedance control
KW - Integral impedance control
KW - Low impact docking
UR - https://www.scopus.com/pages/publications/85015714976
U2 - 10.1109/ICInfA.2016.7831858
DO - 10.1109/ICInfA.2016.7831858
M3 - 会议稿件
AN - SCOPUS:85015714976
T3 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
SP - 403
EP - 408
BT - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
Y2 - 1 August 2016 through 3 August 2016
ER -