High precision force control by multi-sensor based disturbance observer

Seiichiro Katsura, Kouhei Irie, Kiyoshi Ohishi

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

1 Citation (Scopus)

Abstract

Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which estimates 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 information 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. An acceleration sensor is implemented to enlarge the bandwidth in the proposed multi-sensor based disturbance observer (MSDO). Thus, control performance of the MSDO is superior to the conventional one. In this paper, the MSDO is applied to force control and the viability of the proposed method is confirmed by fast Fourier transformation (FFT) analyses.

Original languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages5227-5233
Number of pages7
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Katsura, S., Irie, K., & Ohishi, K. (2006). High precision force control by multi-sensor based disturbance observer. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 5227-5233). [4153476] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347747