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

Yu Sheng Lu, Chi Sheng Hwang

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

4 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

ASJC Scopus subject areas

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

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  • 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