전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제59권12호
  • /
  • Pages.2278-2283
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  • 2010
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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외란 추정기를 이용한 펜듀봇 시스템의 사인파형 외란 보상

Compensation of Sinusoidal Disturbance in Pendubot System using Disturbance Observer

  • 투고 : 2010.06.11
  • 심사 : 2010.10.25
  • 발행 : 2010.12.01
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초록

This paper deals with the pendubot control using disturbance observer. Experimental results for the motion of pendubot with balancing control show that the limit cycle can be attributed to the disturbance. Therefore, we propose the disturbance compensation method using by disturbance observer to compensate for the disturbance. Through the experimental results, the effectiveness of the proposed method is verified.

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참고문헌

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