| Title |
Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer |
| Authors |
이초원(Lee, Cho-Won) ; 김인혁(Kim, In Hyuk) ; 손영익(Son, Young Ik) |
| DOI |
https://doi.org/10.5370/KIEE.2015.64.5.751 |
| Keywords |
One-Link Manipulator ; Parameter Uncertainty ; Sinusoidal Disturbance ; Disturbance Observer |
| 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. |