Robust fast tracking control for multi-degrees-of-freedom motion system considering torque saturation

Masaki Sazawa, Kiyoshi Ohishi, Seiichiro Katsura, Sho Kato

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Robust fast continuous path tracking control is the important technology for the multi-degrees-of-freedom position control system such as X-Y table, robot manipulator and so on. Especially, large acceleration and/or deceleration torque is necessary for fast continuous path tracking control at its start position and its goal position. Each motor of high speed path tracking control has the torque limitation. This motor cannot always obtain the enough acceleration and/or deceleration torque due to its torque limitation. Hence, in controlling a multi-degree-of-freedom position control system, even if motor torque of only one axis has torque limitation, the actual position response is not equal to the trajectory reference. In fast continuous path tracking control of multi-degree-of-freedom position control system, the position error sometimes increases according to the unknown disturbance torque and inertia variation. In order to overcome these problems, this paper proposes a new robust fast continuous path tracking control algorithm taking into account both the torque saturation and the coordinated motion, which is based on the robust acceleration control using disturbance observer. The proposed method assures the coordinated motion considering the torque limitation. The effectiveness of the proposed method is confirmed by the experimental results in this paper.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Conference Proceedings
DOI
出版ステータスPublished - 2008 10月 30
外部発表はい
イベント2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Chengdu, China
継続期間: 2008 4月 212008 4月 24

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008
国/地域China
CityChengdu
Period08/4/2108/4/24

ASJC Scopus subject areas

  • 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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