An analysis of parameter variations of disturbance observer for haptic motion control

Hideyuki Kobayashi, Seiichiro Katsura, Kouhei Ohnishi

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

13 Citations (Scopus)

Abstract

Recent machines are hoped to have a haptic ability to work in open environment. Haptic motion control is based on position control and force control. To realize the position control and especially force control, the attainment of robustness is essential. This paper selects a disturbance observer to attain the robust acceleration control. A disturbance observer identifies the total mechanical load torque and parameter variations. The aim of this paper is to analyze a disturbance observer with the focus on parameter variations. Parameter variations have an influence on the cut-off frequency of bandwidth where robustness is assured and the stability of control system. This paper shows that the cut-off frequency depends on parameter variations. This paper focuses on the self-inertia variation and analyzes the stability of the position control system and the force control system. The design method of observer gains is also proposed.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages1907-1912
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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