TY - GEN
T1 - Variable-structure disturbance observers for harmonic drive actuators
AU - Lu, Yu Sheng
AU - Hwang, Chi Sheng
PY - 2007
Y1 - 2007
N2 - 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.
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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U2 - 10.1109/IECON.2007.4460289
DO - 10.1109/IECON.2007.4460289
M3 - Conference contribution
AN - SCOPUS:49949117817
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 715
EP - 720
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -