TY - JOUR
T1 - High-order variable-structure disturbance estimators with applications to harmonic drive systems
AU - Lu, Yu Sheng
AU - Hwang, Chi Sheng
N1 - Funding Information:
Aerospace Center for the use of its facilities. The supports from Prof. G. Hirzinger, N. Sporer, M. Haehnle and M. Hauschild are also gratefully acknowledged. This work was partially supported by the National Science Council of ROC under grant number NSC 96-2221-E-003-022-MY2.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Disturbance estimator
KW - Harmonic drive
KW - Sliding mode
KW - Variable-structure systems
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U2 - 10.1080/02533839.2009.9671544
DO - 10.1080/02533839.2009.9671544
M3 - Article
AN - SCOPUS:68849092378
SN - 0253-3839
VL - 32
SP - 613
EP - 625
JO - Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
JF - Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
IS - 5
ER -