2A1-G06 量子化されたセンサ情報に対する非線形フィルタESDSの適用

概要

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Proportional-Integral-Derivative (PID) control is widely used to control mechanical systems. In PID control technique, however, there is a limit of accuracy of a simulation because of the modeling errors, such as influence of frictions or gravity. Digital Acceleration Control has robustness for these modeling errors. But it requires position, velocity and acceleration of the controlled object to construct the controller. In terms of costs, less sensors are desired. In this research, we use a novel digital differentiator using sliding mode technique, ESDS which enables Digital Acceleration Control without increasing the number of sensors. Furthermore, the proposed method works effectively for quantized sensor data. Using 1-link manipulator, the validity of the proposed method is confirmed by simulation and experiments.
一般社団法人日本機械学会の論文
2009-05-25