Variable-structure disturbance observers for harmonic drive actuators

Yu Sheng Lu, Chi Sheng Hwang

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
頁面715-720
頁數6
DOIs
出版狀態已發佈 - 2007 十二月 1
事件33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, 臺灣
持續時間: 2007 十一月 52007 十一月 8

出版系列

名字IECON Proceedings (Industrial Electronics Conference)

其他

其他33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
國家臺灣
城市Taipei
期間2007/11/052007/11/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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