Sensor free power assisting control based on velocity control and disturbance observer

Sehoon Oh, Yoichi Hori

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

35 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Pages1709-1714
Number of pages6
DOIs
StatePublished - 2005
EventIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
Duration: 20 Jun 200523 Jun 2005

Publication series

NameIEEE International Symposium on Industrial Electronics
VolumeIV

Conference

ConferenceIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Country/TerritoryCroatia
CityDubrovnik
Period20/06/0523/06/05

Keywords

  • Compliance control
  • Disturbance amplification control
  • Extended inertia control
  • Frequency weighted assistance
  • Human sensory control
  • Power assistance control
  • Wheelchair control

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