Advanced motion control by multi-sensor based disturbance observer

Kouhei Irie, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Paper査読

5 被引用数 (Scopus)


Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. 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 multi-sensor based disturbance observer (MSDO) is superior to the conventional one. The MSDO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

出版ステータスPublished - 2006 11月 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3月 272006 3月 29


Other9th IEEE International Workshop on Advanced Motion Control, 2006

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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