Wideband motion control by position and acceleration input based disturbance observer

Kouhei Irie, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

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 response 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. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume127
Issue number6
Publication statusPublished - 2007
Externally publishedYes

Fingerprint

Motion control
Bandwidth
Sensors
Stiffness
Derivatives
Force control
Position control
Torque

Keywords

  • Acceleration control
  • Acceleration sensor
  • Disturbance observer
  • Haptics
  • Motion control
  • Sensitivity function
  • Sensor fusion

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Wideband motion control by position and acceleration input based disturbance observer. / Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi.

In: IEEJ Transactions on Industry Applications, Vol. 127, No. 6, 2007.

Research output: Contribution to journalArticle

@article{919b3d15854149cfbd1d0bd053fcdd91,
title = "Wideband motion control by position and acceleration input based disturbance observer",
abstract = "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 response 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. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.",
keywords = "Acceleration control, Acceleration sensor, Disturbance observer, Haptics, Motion control, Sensitivity function, Sensor fusion",
author = "Kouhei Irie and Seiichiro Katsura and Kiyoshi Ohishi",
year = "2007",
language = "English",
volume = "127",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "6",

}

TY - JOUR

T1 - Wideband motion control by position and acceleration input based disturbance observer

AU - Irie, Kouhei

AU - Katsura, Seiichiro

AU - Ohishi, Kiyoshi

PY - 2007

Y1 - 2007

N2 - 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 response 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. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

AB - 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 response 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. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

KW - Acceleration control

KW - Acceleration sensor

KW - Disturbance observer

KW - Haptics

KW - Motion control

KW - Sensitivity function

KW - Sensor fusion

UR - http://www.scopus.com/inward/record.url?scp=34249981486&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34249981486&partnerID=8YFLogxK

M3 - Article

VL - 127

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 6

ER -