Disturbance Suppression Control Using Disturbance Observer and Acceleration Feedback in Two-dimensional Shaking Table Systems

2017 ◽  
Vol 2017 (0) ◽  
pp. G1000505
Author(s):  
Masashi MATSUOKA ◽  
Sota KAIDA ◽  
Kenta SEKI
Keyword(s):  
Disturbance Observer ◽  
Shaking Table ◽  
Two Dimensional ◽  
Disturbance Suppression ◽  
Acceleration Feedback

Verification of two-dimensional non-linear analysis of sand-structure system by examining the results of the shaking-table test

1992 ◽  
Vol 21 (7) ◽  
pp. 591-607 ◽  
Author(s):  
Akira Ohtsuki ◽  
Masanori Hirota ◽  
Kikuo Ishimura ◽  
Kazutomo Yokoyama ◽  
Kiyoshi Fukutake
Keyword(s):  
Shaking Table Test ◽  
Linear Analysis ◽  
Shaking Table ◽  
Two Dimensional ◽  
Structure System ◽  
Non Linear

A regressor-free adaptive impedance controller for robot manipulators without Slotine and Li's modification: theory and experiments

Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 638-648 ◽  
Author(s):  
Chen-Yu Kai ◽  
An-Chyau Huang
Keyword(s):  
Function Approximation ◽  
Closed Loop ◽  
Approximation Technique ◽  
Two Dimensional ◽  
Simple Strategy ◽  
Acceleration Vector ◽  
New Strategy ◽  
Acceleration Feedback ◽  
Joint Acceleration ◽  
Theory And Experiments

SUMMARYSlotine and Li's modification is a well-known, simple, and elegant approach for robot adaptive control to avoid the feedback of joint accelerations. This paper presents a simple strategy to implement a regressor-free adaptive impedance controller without using Slotine and Li's modification. In the new strategy, the joint acceleration vector and the dynamics of robot are assumed to be unavailable. Their effects are covered by using the function approximation technique so that there is no need for the joint acceleration feedback. The closed-loop stability and boundedness of internal signals are justified by the Lyapunov-like technique. Experimental results for a two-dimensional (2D) robot are presented to show the effectiveness of the proposed strategy.

Positioning of an X-Y Stage Using the Horizontal Acceleration Signal of the Base Plate

1993 ◽  
Vol 5 (4) ◽  
pp. 344-348 ◽  
Author(s):  
Shinji Wakui ◽  
◽  
Mikio Sato ◽  
Katsumi Asada ◽  
Takeshi Sawada
Keyword(s):  
Numerical Simulation ◽  
Mechanical Model ◽  
Disturbance Observer ◽  
Base Plate ◽  
Degree Of Freedom ◽  
Superior Performance ◽  
Acceleration Signal ◽  
Horizontal Acceleration ◽  
Acceleration Feedback

In this paper, we formulate the effectiveness of the horizontal acceleration feedback for an X-Y stage installed in the reduction stepper by. using the 2-degree-of-freedom mechanical model and show that its feedback is equivalent to the zeroing of disturbance. Furthermore, we propose the disturbance observer instead of acceleration feedback, and its superior performance is illustrated by using the numerical simulation.

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