Advanced motion control by multi-sensor based disturbance observer

Kouhei Irie, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed multi-sensor based disturbance observer (MSDO) is superior to the conventional one. The MSDO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages200-205
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Motion control
Bandwidth
Sensors
Torque
Stiffness
Acceleration control
Derivatives
Quarries
Force control
Position control
Robust control
Industry

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Irie, K., Katsura, S., & Ohishi, K. (2006). Advanced motion control by multi-sensor based disturbance observer. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 200-205). [1631658] https://doi.org/10.1109/AMC.2006.1631658

Advanced motion control by multi-sensor based disturbance observer. / Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 200-205 1631658.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Irie, K, Katsura, S & Ohishi, K 2006, Advanced motion control by multi-sensor based disturbance observer. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631658, pp. 200-205, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631658
Irie K, Katsura S, Ohishi K. Advanced motion control by multi-sensor based disturbance observer. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 200-205. 1631658 https://doi.org/10.1109/AMC.2006.1631658
Irie, Kouhei ; Katsura, Seiichiro ; Ohishi, Kiyoshi. / Advanced motion control by multi-sensor based disturbance observer. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 200-205
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