Acceleration based reactive torque control

Kento Watanabe, Daiki Suzuki, Takahiro Mizoguchi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics


Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Country/TerritoryTaiwan, Province of China

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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