摘要
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.
原文 | 英語 |
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頁(從 - 到) | 613-625 |
頁數 | 13 |
期刊 | Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an |
卷 | 32 |
發行號 | 5 |
DOIs | |
出版狀態 | 已發佈 - 2009 |
ASJC Scopus subject areas
- 工程 (全部)