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http://dx.doi.org/10.5370/KIEE.2015.64.5.751

Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer  

Lee, Cho-Won (Dept. of Electrical and Engineering, Myongji University)
Kim, In Hyuk (Dept. of Electrical and Engineering, Myongji University)
Son, Young Ik (Dept. of Electrical Engineering, Myongji University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.64, no.5, 2015 , pp. 751-754 More about this Journal
Abstract
This paper deals with a robust speed control problem of a vertical one-link manipulator in the presence of parameter uncertainties and unknown input disturbance. Uncertain load weight causes an additional sinusoidal disturbance in the rotation of the link. In order to improve the robustness against parameter uncertainties and external input disturbances, this paper employs an internal model-based disturbance observer approach. Comparative computer simulations are performed to test the performance of the proposed controller. The simulation results show the enhanced performance of the proposed method.
Keywords
One-Link Manipulator; Parameter Uncertainty; Sinusoidal Disturbance; Disturbance Observer;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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