TY - GEN
T1 - Sensor free power assisting control based on velocity control and disturbance observer
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2005
Y1 - 2005
N2 - In this paper, we design a controller that makes a plant sensitive to disturbance, which can be adopted for power assisting systems. Conventional power assisting controllers need force sensing, and only focus on the amplification of the force. But our proposed controller does not need force sensing. We just focus on the physical dynamics of the assisted plant considering sensitivity function of feedbacked system. Recently, various electric motor systems are used near people including power assisting system. Controllers for those motor systems need other control specifications than precise tracking or strict disturbance rejections. Proposed method can be a good solution for these specifications and can be called frequency weighted assistance control.
AB - In this paper, we design a controller that makes a plant sensitive to disturbance, which can be adopted for power assisting systems. Conventional power assisting controllers need force sensing, and only focus on the amplification of the force. But our proposed controller does not need force sensing. We just focus on the physical dynamics of the assisted plant considering sensitivity function of feedbacked system. Recently, various electric motor systems are used near people including power assisting system. Controllers for those motor systems need other control specifications than precise tracking or strict disturbance rejections. Proposed method can be a good solution for these specifications and can be called frequency weighted assistance control.
KW - Compliance control
KW - Disturbance amplification control
KW - Extended inertia control
KW - Frequency weighted assistance
KW - Human sensory control
KW - Power assistance control
KW - Wheelchair control
UR - http://www.scopus.com/inward/record.url?scp=33748368069&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2005.1529190
DO - 10.1109/ISIE.2005.1529190
M3 - Conference contribution
AN - SCOPUS:33748368069
SN - 0780387384
SN - 9780780387386
T3 - IEEE International Symposium on Industrial Electronics
SP - 1709
EP - 1714
BT - Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
T2 - IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Y2 - 20 June 2005 through 23 June 2005
ER -