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This paper analyzes three-degree-of-freedom (Three-DoF) control based multiple disturbance observers (TDoF-DOB). Three-DoF control has multiple DOBs equivalently; therefore, its explicit implementation is verified in this paper for the force estimation problem. As the comparative study, differences between TDoF-DOB and position and acceleration integrated disturbance observer (PAIDO) are analyzed...
This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
Main contribution of this paper is an experimental verification of a new position control algorithm exploiting principles of forced dynamics control capable to operate in energy saving mode. To minimize energy loss a specified velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. Settings of the velocity-time profile parameters...
This paper presents a novel functional observer which can observe the velocity, acceleration and disturbance information of a motion control system with higher accuracy and less noise in comparison to classical observers. The observer uses the input current and position information and the nominal parameters of the plant. The novelty of the observer is based on its functional structure that can intrinsically...
Robust fast continuous path tracking control is the important technology for the multi-degrees-of-freedom position control system such as X-Y table, robot manipulator and so on. Especially, large acceleration and/or deceleration torque is necessary for fast continuous path tracking control at its start position and its goal position. Each motor of high speed path tracking control has the torque limitation...
Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required...
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