Tracking control of a harmonic drive actuator with sliding-mode disturbance observers

Yu-Shen Lu, Chi Sheng Hwang

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

3 Citations (Scopus)

Abstract

This paper describes the tracking control of a harmonic drive actuator that features flexible transmission with significant torque ripples. The plant is modeled as a flexible-joint mechanism, and a design approach superior to the conventional integrator backstepping design is demonstrated to obtain a nominal controller. To deal with the torque ripples, internal model principle-based sliding-mode disturbance observers (IMP-SDOBs) are designed by incorporating the disturbance model into the SDOB design. Experimental studies on a harmonic drive actuator equipped with a torque sensor are conducted, demonstrating the feasibility of the proposed controller/observer structure.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages1798-1803
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

Fingerprint

Actuators
Torque
Controllers
Backstepping
Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Lu, Y-S., & Hwang, C. S. (2009). Tracking control of a harmonic drive actuator with sliding-mode disturbance observers. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 1798-1803). [5229783] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229783

Tracking control of a harmonic drive actuator with sliding-mode disturbance observers. / Lu, Yu-Shen; Hwang, Chi Sheng.

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 1798-1803 5229783 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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

Lu, Y-S & Hwang, CS 2009, Tracking control of a harmonic drive actuator with sliding-mode disturbance observers. in 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5229783, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1798-1803, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5229783
Lu Y-S, Hwang CS. Tracking control of a harmonic drive actuator with sliding-mode disturbance observers. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 1798-1803. 5229783. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229783
Lu, Yu-Shen ; Hwang, Chi Sheng. / Tracking control of a harmonic drive actuator with sliding-mode disturbance observers. 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. pp. 1798-1803 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
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