Variable-structure disturbance observers for harmonic drive actuators

Yu Sheng Lu, Chi Sheng Hwang

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

Abstract

This paper presents the design of a high-order variable-structure disturbance observer (VSDO) that yields asymptotic estimation of unknown disturbances described by polynomial functions of time with arbitrary degrees. In comparison with conventional VSDO, the high-order VSDO requires a small switching gain for ensuring the existence of a sliding mode, thus diminishing the chattering phenomenon further. Two high-order VSDOs were implemented to simultaneously observing the motor-side and the load-side disturbances in a harmonic drive actuator. Experimental results show that the compensation provided by the high-order VSDOs effectively deals with the disturbances due to harmonic drive gearing.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages715-720
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan
Duration: 2007 Nov 52007 Nov 8

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Lu, Y. S., & Hwang, C. S. (2007). Variable-structure disturbance observers for harmonic drive actuators. In Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON (pp. 715-720). [4460289] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2007.4460289