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Author: search.filters.author.Anabuki, MasatoshiSubject: search.filters.subject.Disturbance observer

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    Adaptive controller design for anti-slip system of EV
    (2006-12-01)
    Ratiroch-Anant, Phornsuk
    ;
    Hirata, Hiroshi
    ;
    Anabuki, Masatoshi
    ;
    Ouchi, Shigeto
    The design strategy of adaptive controller for antislip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire slip is appropriately controlled by means of the feedback of the speed deviation between wheel speed and estimated vehicle speed. It is proved by the numerical simulations that the proposed methods provide satisfactory performance. Furthermore, the practical DC motor experiment set, which can give various slips, is constructed in order to investigate the effect of proposed anti-slip control system. It is verified that the proposed strategy is useful as one approach of anti-slip control. © 2006 IEEE.
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    Adaptive motion control of a two-link direct drive manipulator using disturbance observer
    (2002-12-01)
    Ratiroch-Anant, Phornsuk
    ;
    Anabuki, Masatoshi
    ;
    Hirata, Hiroshi
    The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive control is applied to control the deterioration of the tracking performance by the variation of payload. It is verified by the practical experiment that the adaptive control is very useful in the case of the nonlinear torque has small effect compared to the friction torque.