Title :
Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot
Author :
Aoki, Masaki ; Fujimoto, Hiroshi ; Hori, Yoichi ; Takahashi, Tatsuro
Author_Institution :
Univ. of Tokyo, Tokyo, Japan
fDate :
Feb. 27 2013-March 1 2013
Abstract :
In this paper, a robust control method for two-inertia systems is proposed based on the self resonance cancellation control (SRC) and the self resonance cancellation disturbance observer (SRCDOB). The SRCDOB proposed in this paper improves the robustness of control system by rejecting disturbances and compensating for deviation of plant dynamics. The feedback controller for two-inertia systems is designed based on a nominalized plant model by SRCDOB and its effectiveness is verified through simulation study. In addition, the proposed robust resonance suppression control method is applied to a humanoid robot control system and experimental results demonstrate the effectiveness of the proposed robust resonance suppression control method.
Keywords :
control system synthesis; feedback; humanoid robots; nonlinear control systems; observers; robust control; SRC; SRCDOB; control system robustness; disturbance rejection; feedback controller; humanoid robot; nominalized plant model; robust control method; robust resonance suppression control; self resonance cancellation control; self resonance cancellation disturbance observer; two-inertia system; Control systems; Joints; Load modeling; Robots; Robustness; Torque; Transfer functions;
Conference_Titel :
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location :
Vicenza
Print_ISBN :
978-1-4673-1386-5
Electronic_ISBN :
978-1-4673-1387-2
DOI :
10.1109/ICMECH.2013.6519114
