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

Yu Sheng Lu, Chi Sheng Hwang

研究成果: 書貢獻/報告類型會議貢獻

4 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
頁面1798-1803
頁數6
DOIs
出版狀態已發佈 - 2009 十一月 4
事件2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, 新加坡
持續時間: 2009 七月 142009 七月 17

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

其他

其他2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
國家新加坡
城市Singapore
期間09/7/1409/7/17

ASJC Scopus subject areas

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

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