Improving transparency of bilateral control system by sliding mode assist disturbance observer

	Improving transparency of bilateral control system by sliding mode assist disturbance observer
	Tian D.; Yashiro D.; Ohnishi K.
	2013
发表期刊	IEEJ Transactions on Electrical and Electronic Engineering
ISSN	ISBN/19314973
卷号	8 期号:3
摘要	Transparency is an important indicator to evaluate the performance of a bilateral control system. Uncompensated disturbances in high frequency degrade the transparency in the traditional disturbance observer (DOB) based bilateral control. This paper analyzes the influence of the uncompensated disturbances, and proposes a sliding mode assist disturbance observer (SMADO) to solve the problem. The sliding mode technique helps the original DOB to estimate the disturbances in high frequency by making use of a rapid switching control value. The required switching gain is small in the proposal, which is good for alleviating the chattering. Moreover, to avoid conservative and arbitrary design of the switching gain, a reasonable benchmark is proposed by employing the estimation error between the original DOB and another parallel DOB with a different cutoff frequency. The validity of the proposal is confirmed by experiments. 2013 Institute of Electrical Engineers of Japan.
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/40711
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Tian D.,Yashiro D.,Ohnishi K.. Improving transparency of bilateral control system by sliding mode assist disturbance observer[J]. IEEJ Transactions on Electrical and Electronic Engineering,2013,8(3).
APA	Tian D.,Yashiro D.,&Ohnishi K..(2013).Improving transparency of bilateral control system by sliding mode assist disturbance observer.IEEJ Transactions on Electrical and Electronic Engineering,8(3).
MLA	Tian D.,et al."Improving transparency of bilateral control system by sliding mode assist disturbance observer".IEEJ Transactions on Electrical and Electronic Engineering 8.3(2013).

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