Observer-based motion control - Application to robust control and parameter identification -

Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Conference contribution

25 被引用数 (Scopus)

抄録

This paper describes motion control strategies based on disturbance observer in multi-degrees-offreedom manipulator. Basically the disturbance observer estimates total disturbance effects imposed on the system. By using the disturbance observer, two sophisticated abilities are added to the controller. One is disturbance suppression ability which is obtained by the feedback of the estimated disturbance torque. The other is the parameter identification ability. In this case, all parameters included in motion equations of the system are identified by resolving the estimated disturbance torque. First, we explain a basic structure of the disturbance observer. Then a general configuration of the observer-based motion controller is introduced. Second, the parameter identification algorithm is shown. Several experimental results are also implemented to confirm the validity of the observer-based motion control.

本文言語English
ホスト出版物のタイトルProceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-6
ページ数6
ISBN(電子版)0780312236, 9780780312234
DOI
出版ステータスPublished - 1993 1月 1
イベント1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993 - Singapore, Singapore
継続期間: 1993 7月 151993 7月 16

出版物シリーズ

名前Proceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993

Conference

Conference1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
国/地域Singapore
CitySingapore
Period93/7/1593/7/16

ASJC Scopus subject areas

  • 人工知能
  • 制御と最適化

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