Observer-based motion control - Application to robust control and parameter identification -

Toshiyuki Murakami, Kouhei Ohnishi

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

23 Citations (Scopus)

Abstract

This paper describes motion control strategies based on disturbance observer in multi-degrees-offreedom manipulator. Basically the disturbance observer estimates total disturbance effects imposed on the system. By using the disturbance observer, two sophisticated abilities are added to the controller. One is disturbance suppression ability which is obtained by the feedback of the estimated disturbance torque. The other is the parameter identification ability. In this case, all parameters included in motion equations of the system are identified by resolving the estimated disturbance torque. First, we explain a basic structure of the disturbance observer. Then a general configuration of the observer-based motion controller is introduced. Second, the parameter identification algorithm is shown. Several experimental results are also implemented to confirm the validity of the observer-based motion control.

Original languageEnglish
Title of host publicationProceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)0780312236, 9780780312234
DOIs
Publication statusPublished - 1993 Jan 1
Event1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993 - Singapore, Singapore
Duration: 1993 Jul 151993 Jul 16

Publication series

NameProceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993

Conference

Conference1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
CountrySingapore
CitySingapore
Period93/7/1593/7/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization

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    Murakami, T., & Ohnishi, K. (1993). Observer-based motion control - Application to robust control and parameter identification -. In Proceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993 (pp. 1-6). [316177] (Proceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/APWAM.1993.316177