Acceleration based reactive torque control

Kento Watanabe, Daiki Suzuki, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution


In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.

ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
出版ステータスPublished - 2013 8 22
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5 282013 5 31


名前IEEE International Symposium on Industrial Electronics


Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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