Acceleration based reactive torque control

Kento Watanabe; Daiki Suzuki; Takahiro Mizoguchi; Kouhei Ohnishi

doi:10.1109/ISIE.2013.6563698

Acceleration based reactive torque control

Kento Watanabe, Daiki Suzuki, Takahiro Mizoguchi, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.

Original language	English
Title of host publication	2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs	https://doi.org/10.1109/ISIE.2013.6563698
Publication status	Published - 2013 Aug 22
Event	2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China Duration: 2013 May 28 → 2013 May 31

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Country/Territory	Taiwan, Province of China
City	Taipei
Period	13/5/28 → 13/5/31

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2013.6563698

Cite this

Watanabe, K, Suzuki, D, Mizoguchi, T & Ohnishi, K 2013, Acceleration based reactive torque control. in 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013., 6563698, IEEE International Symposium on Industrial Electronics, 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013, Taipei, Taiwan, Province of China, 13/5/28. https://doi.org/10.1109/ISIE.2013.6563698

@inproceedings{26901d32f0f2472ea064a9423fd7fa3f,

title = "Acceleration based reactive torque control",

abstract = "In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.",

author = "Kento Watanabe and Daiki Suzuki and Takahiro Mizoguchi and Kouhei Ohnishi",

year = "2013",

month = aug,

day = "22",

doi = "10.1109/ISIE.2013.6563698",

language = "English",

isbn = "9781467351942",

series = "IEEE International Symposium on Industrial Electronics",

booktitle = "2013 IEEE International Symposium on Industrial Electronics, ISIE 2013",

note = "2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 ; Conference date: 28-05-2013 Through 31-05-2013",

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TY - GEN

T1 - Acceleration based reactive torque control

AU - Watanabe, Kento

AU - Suzuki, Daiki

AU - Mizoguchi, Takahiro

AU - Ohnishi, Kouhei

PY - 2013/8/22

Y1 - 2013/8/22

N2 - In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.

AB - In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.

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U2 - 10.1109/ISIE.2013.6563698

DO - 10.1109/ISIE.2013.6563698

M3 - Conference contribution

AN - SCOPUS:84881657080

SN - 9781467351942

T3 - IEEE International Symposium on Industrial Electronics

BT - 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013

T2 - 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013

Y2 - 28 May 2013 through 31 May 2013

ER -

Acceleration based reactive torque control

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