Title :
Yo-yo motion control based on impulsive Luenberger Observer
Author :
Kojima, Shingo ; Iwase, Masami
Author_Institution :
Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan
Abstract :
In this paper, a yo-yo motion control called “gravity-pull” is considered with mixing an energy-based stabilizing control and an impulsive Luenberger Observer (ILO). This study aims that this control law is realized without any visual sensor but with force sensors because people can manipulate a yo-yo by use of the force sense at the finger even with eyes closed. Under the assumption that recognizable force is applied to the finger only when a yo-yo arrives at the bottom position, the ILO plays an important role to estimate the state of the yo-yo from the impulsive force because the state as the rotational speed is required for the yo-yo motion control. The precision of a yo-yo physical model affects the estimation accuracy of the ILO, hence a detailed yo-yo model, in which the thickness of the yo-yo´s string is considered, is derived. With the estimated state, an energy-based stabilizing control realizes the gravity-pull, the target yo-yo motion.
Keywords :
control system synthesis; force sensors; manipulator dynamics; motion control; observers; stability; state estimation; ILO; control law; energy based stabilizing control; force sensors; gravity-pull; impulsive Luenberger observer; impulsive force; rotational speed; state estimation accuracy; yo-yo motion control; yo-yo physical model precision; yo-yo string; Equations; Force; Humans; Mathematical model; Numerical models; Observers;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161495