Variable-structure disturbance observers for harmonic drive actuators

Yu Sheng Lu; Chi Sheng Hwang

doi:10.1109/IECON.2007.4460289

Variable-structure disturbance observers for harmonic drive actuators

Yu Sheng Lu^*, Chi Sheng Hwang

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages	715-720
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2007.4460289
Publication status	Published - 2007
Externally published	Yes
Event	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan Duration: 2007 Nov 5 → 2007 Nov 8

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Country/Territory	Taiwan
City	Taipei
Period	2007/11/05 → 2007/11/08

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2007.4460289

Cite this

Lu, YS & Hwang, CS 2007, Variable-structure disturbance observers for harmonic drive actuators. in Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON., 4460289, IECON Proceedings (Industrial Electronics Conference), pp. 715-720, 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON, Taipei, Taiwan, 2007/11/05. https://doi.org/10.1109/IECON.2007.4460289

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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.",

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AB - 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.

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Variable-structure disturbance observers for harmonic drive actuators

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