Vibration suppression and disturbance rejection control of a flexible link arm

Manabu Matsuoka, Toshiyuki Murakami, Kouhei Ohnishi

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

35 Citations (Scopus)

Abstract

This paper presents a position control method to suppress vibration and the arm disturbance torque of flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose the method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is feedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE
Pages1260-1265
Number of pages6
Volume2
Publication statusPublished - 1995
EventProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
Duration: 1995 Nov 61995 Nov 10

Other

OtherProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period95/11/695/11/10

Fingerprint

Disturbance rejection
Torque
Feedback
Position control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Matsuoka, M., Murakami, T., & Ohnishi, K. (1995). Vibration suppression and disturbance rejection control of a flexible link arm. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1260-1265). IEEE.

Vibration suppression and disturbance rejection control of a flexible link arm. / Matsuoka, Manabu; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1995. p. 1260-1265.

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

Matsuoka, M, Murakami, T & Ohnishi, K 1995, Vibration suppression and disturbance rejection control of a flexible link arm. in IECON Proceedings (Industrial Electronics Conference). vol. 2, IEEE, pp. 1260-1265, Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2), Orlando, FL, USA, 95/11/6.
Matsuoka M, Murakami T, Ohnishi K. Vibration suppression and disturbance rejection control of a flexible link arm. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. IEEE. 1995. p. 1260-1265
Matsuoka, Manabu ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Vibration suppression and disturbance rejection control of a flexible link arm. IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1995. pp. 1260-1265
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