Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197015
Tatsuya Nakazaki, Tokoku Ogata, K. Ohishi, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru
Recently, the size of digital content has continued to increase; therefore digital storage media have been required to increase capacity by narrowing the track pitch and the gap length between the optical head and the disk. On the other hand, anew optical disk has achieved a rotation speed of over 15,000 rpm. To meet these demands, several control systems for optical disks are proposed to achieve high-precision tracking control. In this paper, a high-precision focusing control system is proposed. The proposed control system consists of a feedback controller and a feedforward controller. The feedback controller design is based on a high-gain servo controller (HGSC). The feedforward controller design is based on a zero phase error tracking (ZPET) controller and an additional loop for suppressing multi-harmonic disturbances. The experimental results show the proposed control system has a fine focusing performance against fundamental periodic disturbances and high-order disturbances.
{"title":"Focusing control system for suppressing multi-harmonic disturbances in high speed optical disk systems","authors":"Tatsuya Nakazaki, Tokoku Ogata, K. Ohishi, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru","doi":"10.1109/AMC.2012.6197015","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197015","url":null,"abstract":"Recently, the size of digital content has continued to increase; therefore digital storage media have been required to increase capacity by narrowing the track pitch and the gap length between the optical head and the disk. On the other hand, anew optical disk has achieved a rotation speed of over 15,000 rpm. To meet these demands, several control systems for optical disks are proposed to achieve high-precision tracking control. In this paper, a high-precision focusing control system is proposed. The proposed control system consists of a feedback controller and a feedforward controller. The feedback controller design is based on a high-gain servo controller (HGSC). The feedforward controller design is based on a zero phase error tracking (ZPET) controller and an additional loop for suppressing multi-harmonic disturbances. The experimental results show the proposed control system has a fine focusing performance against fundamental periodic disturbances and high-order disturbances.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"65 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72839166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197020
H. Tomori, Y. Midorikawa, Taro Nakamura
An artificial rubber muscle was used as an actuator in the present study because it was safe for the muscle manipulator to come into contact with the human body. However, this actuator vibrates and can cause late responses because of the air pressure that is applied to the manipulation. We have built a magnetorheological (MR) brake that uses MR fluid with fast response into the joint to control the vibration. In this paper, we have described the manipulator's dynamic characteristics by construction of a model for improvement of the control performance of the MR brake. Furthermore, a simulation was performed using the model and efficient braking by the MR brake was achieved.
{"title":"Derivation of nonlinear dynamic model of novel pneumatic artificial muscle manipulator with a magnetorheological brake","authors":"H. Tomori, Y. Midorikawa, Taro Nakamura","doi":"10.1109/AMC.2012.6197020","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197020","url":null,"abstract":"An artificial rubber muscle was used as an actuator in the present study because it was safe for the muscle manipulator to come into contact with the human body. However, this actuator vibrates and can cause late responses because of the air pressure that is applied to the manipulation. We have built a magnetorheological (MR) brake that uses MR fluid with fast response into the joint to control the vibration. In this paper, we have described the manipulator's dynamic characteristics by construction of a model for improvement of the control performance of the MR brake. Furthermore, a simulation was performed using the model and efficient braking by the MR brake was achieved.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"30 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81082424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197133
Michele Focchi, Thiago Boaventura, C. Semini, M. Frigerio, J. Buchli, D. Caldwell
In the realm of legged locomotion, being compliant to external unperceived impacts is crucial when negotiating unstructured terrain. Impedance control is a useful framework to allow the robot to follow reference trajectories and, at the same time, handle external disturbances. To implement impedance control, high performance torque control in all joints is of great importance. In this paper, the torque control for the electric joints of the HyQ robot is described and its performance assessed. HyQ is a quadruped robot which has hybrid actuation: hydraulic and electric. This work complements our previous work, in which the torque control for the hydraulic joints was addressed. Subsequently, we describe the implementation of an impedance controller for the HyQ leg. Experimental results assess the tracking capability of a desired Cartesian force at the end-effector under the action of external disturbances. Another set of experiments involves the tracking and the shaping of different desired stiffness behaviors (stiffness ellipses) at the foot.
{"title":"Torque-control based compliant actuation of a quadruped robot","authors":"Michele Focchi, Thiago Boaventura, C. Semini, M. Frigerio, J. Buchli, D. Caldwell","doi":"10.1109/AMC.2012.6197133","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197133","url":null,"abstract":"In the realm of legged locomotion, being compliant to external unperceived impacts is crucial when negotiating unstructured terrain. Impedance control is a useful framework to allow the robot to follow reference trajectories and, at the same time, handle external disturbances. To implement impedance control, high performance torque control in all joints is of great importance. In this paper, the torque control for the electric joints of the HyQ robot is described and its performance assessed. HyQ is a quadruped robot which has hybrid actuation: hydraulic and electric. This work complements our previous work, in which the torque control for the hydraulic joints was addressed. Subsequently, we describe the implementation of an impedance controller for the HyQ leg. Experimental results assess the tracking capability of a desired Cartesian force at the end-effector under the action of external disturbances. Another set of experiments involves the tracking and the shaping of different desired stiffness behaviors (stiffness ellipses) at the foot.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"28 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81750256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197114
T. Shimono, Yoshiyuki Hatta, N. Motoi
This paper proposes an evaluation index for the analysis of the motion complexity in parallel multi-degrees-of-freedom (MDOF) haptic system. Firstly, the modal decomposition based on discrete Fourier series expansion (DFS) is described. Modal information expresses a motion element that corresponds to a specific physical action. The modal information can be defined by the Fourier coefficients. This paper proposes a total harmonic distortion (THD) of the haptic modal information as a haptic motion index. The utility of the proposed index is confirmed from the experimental results on the bilateral motion control of MDOF haptic system.
{"title":"Total harmonic distortion of haptic modal information for analysis of human fingertip motion","authors":"T. Shimono, Yoshiyuki Hatta, N. Motoi","doi":"10.1109/AMC.2012.6197114","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197114","url":null,"abstract":"This paper proposes an evaluation index for the analysis of the motion complexity in parallel multi-degrees-of-freedom (MDOF) haptic system. Firstly, the modal decomposition based on discrete Fourier series expansion (DFS) is described. Modal information expresses a motion element that corresponds to a specific physical action. The modal information can be defined by the Fourier coefficients. This paper proposes a total harmonic distortion (THD) of the haptic modal information as a haptic motion index. The utility of the proposed index is confirmed from the experimental results on the bilateral motion control of MDOF haptic system.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"5 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82315048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197130
Branislav Konjevic, M. Puncec, Z. Kovačić
This paper presents two different approaches to trajectory planning that provide boundedness of position, velocity, acceleration and jerk. To achieve that goal on all segments of the planned trajectory, the first approach combines fifth-order and fourth-order polynomials, while the second one separates a velocity profile from a given path. Using a minimal path traversal time criterion for both approaches, the methods were tested and verified on a selected trajectory for a three degrees of freedom (DOF) planar articulated robot.
{"title":"Two approaches to bounded jerk trajectory planning","authors":"Branislav Konjevic, M. Puncec, Z. Kovačić","doi":"10.1109/AMC.2012.6197130","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197130","url":null,"abstract":"This paper presents two different approaches to trajectory planning that provide boundedness of position, velocity, acceleration and jerk. To achieve that goal on all segments of the planned trajectory, the first approach combines fifth-order and fourth-order polynomials, while the second one separates a velocity profile from a given path. Using a minimal path traversal time criterion for both approaches, the methods were tested and verified on a selected trajectory for a three degrees of freedom (DOF) planar articulated robot.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"34 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89365015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197129
Shinnosuke Yamaoka, T. Nozaki, D. Yashiro, K. Ohnishi
Stacked piezoelectric actuators are suitable for micro manipulation since it has a high positional resolution and large generative force. However, it is difficult to control acceleration of piezoelectric actuator because of its hysteresis characteristic and spring characteristic. Therefore in this paper, piezo disturbance observer (PDOB) is proposed. Because PDOB treats hysteresis characteristic and spring characteristic as disturbance and compensates these elements, acceleration control is achieved. In addition, piezo reaction force observer (PRFOB) is proposed. By eliminating spring force from disturbance, PRFOB estimates the reaction force without utilizing any force sensors. Validities of PDOB and PRFOB are verified by experiments. Finally, experiment of micro-macro bilateral control (MMBC) constructed a master system and slave system is performed. The master system is a linear motor with conventional disturbance observer (DOB) and reaction force observer (RFOB). The slave system is a stacked piezoelectric actuator with PDOB and PRFOB. It achieved MMBC between a linear motor and a piezoelectric actuator.
{"title":"Acceleration control of stacked piezoelectric actuator utilizing disturbance observer and reaction force observer","authors":"Shinnosuke Yamaoka, T. Nozaki, D. Yashiro, K. Ohnishi","doi":"10.1109/AMC.2012.6197129","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197129","url":null,"abstract":"Stacked piezoelectric actuators are suitable for micro manipulation since it has a high positional resolution and large generative force. However, it is difficult to control acceleration of piezoelectric actuator because of its hysteresis characteristic and spring characteristic. Therefore in this paper, piezo disturbance observer (PDOB) is proposed. Because PDOB treats hysteresis characteristic and spring characteristic as disturbance and compensates these elements, acceleration control is achieved. In addition, piezo reaction force observer (PRFOB) is proposed. By eliminating spring force from disturbance, PRFOB estimates the reaction force without utilizing any force sensors. Validities of PDOB and PRFOB are verified by experiments. Finally, experiment of micro-macro bilateral control (MMBC) constructed a master system and slave system is performed. The master system is a linear motor with conventional disturbance observer (DOB) and reaction force observer (RFOB). The slave system is a stacked piezoelectric actuator with PDOB and PRFOB. It achieved MMBC between a linear motor and a piezoelectric actuator.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"17 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84401134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197107
Uichiro Nishio, T. Nozaki, K. Ohnishi
It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks. In this system, wires are utilized as force transmission. Therefore, the system can achieve lightweight robot and can generate large joint torque. However, each joint torque interferes mutually because the tendons are attached to each link. Tendon tension must be kept over zero because the tendons can only generate traction force. In this paper, an inverse matrix of transposed Jacobian matrix with tension control was proposed in order to achieve tension control and torque control. This inverse matrix contains two conditions. One is the condition of joint torque control. The other is the condition that the minimum value of tendon tension is kept zero. In addition, the minimum value of tendon tension can be easily changed by bias force. Simulation results and experimental results show the validity of the proposed method.
{"title":"A method of joint torque control for a tendon-driven system","authors":"Uichiro Nishio, T. Nozaki, K. Ohnishi","doi":"10.1109/AMC.2012.6197107","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197107","url":null,"abstract":"It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks. In this system, wires are utilized as force transmission. Therefore, the system can achieve lightweight robot and can generate large joint torque. However, each joint torque interferes mutually because the tendons are attached to each link. Tendon tension must be kept over zero because the tendons can only generate traction force. In this paper, an inverse matrix of transposed Jacobian matrix with tension control was proposed in order to achieve tension control and torque control. This inverse matrix contains two conditions. One is the condition of joint torque control. The other is the condition that the minimum value of tendon tension is kept zero. In addition, the minimum value of tendon tension can be easily changed by bias force. Simulation results and experimental results show the validity of the proposed method.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"47 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88393837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197009
Jorge Hurel, A. Mandow, A. García-Cerezo
This paper proposes a systematic and comprehensive development of a nonlinear two-dimensional mathematical quarter-car model of the McPherson suspension. The model considers not only vertical motion of the sprung mass (chassis) but also rotation and translation for the unsprung mass (wheel assembly). Furthermore, this model includes the wheel mass and its inertia moment about the longitudinal axis. This work improves the conventional quarter-car model by incorporating both the suspension geometry and the tyre lateral stiffness, which allows analyzing variations in kinematic parameters, such as camber angle and track width. Besides, the paper offers an implementation of the model using Matlab-Simulink, whose dynamics and kinematics have been validated against a realistic two-dimensional model developed with the Adams View program.
{"title":"Nonlinear two-dimensional modeling of a McPherson suspension for kinematics and dynamics simulation","authors":"Jorge Hurel, A. Mandow, A. García-Cerezo","doi":"10.1109/AMC.2012.6197009","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197009","url":null,"abstract":"This paper proposes a systematic and comprehensive development of a nonlinear two-dimensional mathematical quarter-car model of the McPherson suspension. The model considers not only vertical motion of the sprung mass (chassis) but also rotation and translation for the unsprung mass (wheel assembly). Furthermore, this model includes the wheel mass and its inertia moment about the longitudinal axis. This work improves the conventional quarter-car model by incorporating both the suspension geometry and the tyre lateral stiffness, which allows analyzing variations in kinematic parameters, such as camber angle and track width. Besides, the paper offers an implementation of the model using Matlab-Simulink, whose dynamics and kinematics have been validated against a realistic two-dimensional model developed with the Adams View program.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"54 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86785915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197050
Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, K. Ohnishi
Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed regarding the tendon-driven system as a redundant system. In this way, tension control is considered as a task in the null space. This makes implementation of tension control stereotypical.
{"title":"Application of tension control into linear motor-actuated cable differential-driven joint","authors":"Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, K. Ohnishi","doi":"10.1109/AMC.2012.6197050","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197050","url":null,"abstract":"Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed regarding the tendon-driven system as a redundant system. In this way, tension control is considered as a task in the null space. This makes implementation of tension control stereotypical.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"22 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81801450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197014
J. Maneeratanaporn, T. Murakami
Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode is specially designed for underactuated nonlinear systems which is derived from Lyapunov law. The asymptotic stability of switching function is proved theoretically. The controller can eliminate the error toward their sliding surfaces. Furthermore, trolley disturbance observer is also implemented to enhance the robustness. An obvious advantage of this kind of controller is based on simple control scheme however it can guarantee the robustness, speed convergence and swing suppression. In this paper, Experiment results are presented to show the superiority of the anti-sway sliding-mode with actuator's disturbance observer by comparing the effectiveness with PD controller assisting with Lyapunov based anti-sway controller and anti-sway sliding mode without disturbance observer. Not only that, but also the filtering technique is employed to eliminate chattering effect.
{"title":"Anti-sway sliding-mode with trolley disturbance observer for overhead crane system","authors":"J. Maneeratanaporn, T. Murakami","doi":"10.1109/AMC.2012.6197014","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197014","url":null,"abstract":"Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode is specially designed for underactuated nonlinear systems which is derived from Lyapunov law. The asymptotic stability of switching function is proved theoretically. The controller can eliminate the error toward their sliding surfaces. Furthermore, trolley disturbance observer is also implemented to enhance the robustness. An obvious advantage of this kind of controller is based on simple control scheme however it can guarantee the robustness, speed convergence and swing suppression. In this paper, Experiment results are presented to show the superiority of the anti-sway sliding-mode with actuator's disturbance observer by comparing the effectiveness with PD controller assisting with Lyapunov based anti-sway controller and anti-sway sliding mode without disturbance observer. Not only that, but also the filtering technique is employed to eliminate chattering effect.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"23 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90970622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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