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A design method on joint torque feedback control system
Description
The authors presented a systematic analysis and design of a position control system with a PD controller plus joint torque feedback in a previous article (see IEEE Control Systems, vol. 18, no. 1, p. 48-55, 1998). It was found that there exists a trade-off relationship between the vibration suppression and the disturbance rejection. In this paper, an additional integral control approach is introduced to the above-mentioned system for improving the disturbance rejection characteristic. By means of pole assignment design, feedback control coefficients and a contraint relation are explicitly derived. Furthermore, by simplifying the constraint relation, the authors present a pole assignment design method with identical real parts. The domain of the pole assignment is discussed. Finally, the validity of the proposed design has been verified by simulations and experiments.
Journal
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- IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)
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IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) 2 1077-1082, 2002-11-27
IEEE
