Realization of acceleration control using multirate sampling method

Mariko Mizuochi, Toshiaki Tsuji, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper focuses on realization of high performance motion control based on acceleration control. Characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. It is then described that a higher sampling frequency is required for acquisition of output information than for update of the input value. Based on the consideration, a new multirate sampling method for the acceleration control system is proposed. Disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of the system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume126
Issue number3
Publication statusPublished - 2006

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Keywords

  • Acceleration control
  • Bilateral control
  • Disturbance observer
  • Multirate sampling
  • Real-time robotics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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