Abstract
This paper describes the design of a high-order variable-structure disturbance estimator (VSDE) that provides asymptotic estimation of unknown disturbances described by polynomial functions of time with arbitrary degrees. In comparison with conventional VSDEs, the high-order VSDE requires only a small switching gain for ensuring the existence of a sliding mode, thus alleviating the chattering problem. Moreover, the transfer function of a high-order VSDE from an unknown disturbance to its estimate can have a high relative degree to enable the estimation of time derivatives of an unknown disturbance while providing adequate high-frequency attenuation. Two high-order VSDEs were implemented to simultaneously observe the motor-side and the load-side disturbances in a harmonic drive system. Experimental results show that the compensation offered by the high-order VSDEs effectively deals with the disturbances induced by harmonic drive gearing.
Original language | English |
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Pages (from-to) | 613-625 |
Number of pages | 13 |
Journal | Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an |
Volume | 32 |
Issue number | 5 |
DOIs | |
Publication status | Published - 2009 |
Keywords
- Disturbance estimator
- Harmonic drive
- Sliding mode
- Variable-structure systems
ASJC Scopus subject areas
- Engineering(all)