TY - GEN
T1 - Observer-based motion control - Application to robust control and parameter identification -
AU - Murakami, Toshiyuki
AU - Ohnishi, Kouhei
PY - 1993/1/1
Y1 - 1993/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/APWAM.1993.316177
DO - 10.1109/APWAM.1993.316177
M3 - Conference contribution
AN - SCOPUS:78650391701
T3 - Proceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
SP - 1
EP - 6
BT - Proceedings - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1993 Asia-Pacific Workshop on Advances in Motion Control, APWAM 1993
Y2 - 15 July 1993 through 16 July 1993
ER -