Title :
Servo control of unstable-wheeled system by using disturbance torque observer compensation and convex optimization
Author :
Takemori, Fumiaki ; Iwata, Jun-Ichi ; Okuyama, Yoshifumi
Author_Institution :
Dept. of Inf. & Knowledge Eng., Tottori Univ., Japan
Abstract :
Presents the servo control for an unstable-wheeled system by using disturbance torque observer compensation and a controller designed by convex optimization. We consider that unstable behavior of the mono-wheeled system because of one supported point body is caused by the virtual disturbance torque. For this purpose, the paper firstly proposes a design method of the disturbance observer in feedback loop for such virtual disturbance torque. In the proposed disturbance observer, an ordinary 2nd-order low pass filter for noise attenuation is insufficient to stabilize the whole wheeled system, so a higher order filter is designed by the H∞ loop shaping method from the view point of robust stability. Secondly, the servo controller for the closed loop system including such a disturbance observer is designed by the convex optimization algorithm in order to achieve multiple control specifications simultaneously. The validity of this control system is demonstrated through experiments
Keywords :
H∞ control; closed loop systems; compensation; control system synthesis; feedback; motion control; observers; optimisation; robust control; servomechanisms; H∞ loop shaping method; convex optimization; disturbance torque observer compensation; feedback loop; mono-wheeled system; noise attenuation; robust stability; servo control; unstable-wheeled system; virtual disturbance torque; Attenuation; Control systems; Design methodology; Design optimization; Feedback loop; Low pass filters; Noise shaping; Robust stability; Servosystems; Torque control;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801033