Realization of acceleration control using multirate sampling method

Mariko Mizuochi, Toshiaki Tsuji, Hiroaki Nishi, Kouhei Ohnishi

研究成果: Article査読

1 被引用数 (Scopus)


This paper focuses on the realization of high-performance motion control based on acceleration control. The characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. This paper then describes that a higher sampling frequency is required for acquisition of output information than for updating the input value. Based on this idea, a new multirate sampling method for an acceleration control system is proposed. A disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of a system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results.

ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
出版ステータスPublished - 2008 3月

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学


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