Disturbance observation control with estimation of the inertia matrix

Abstract

Disturbance Observation Control (DOC) is an e f f d v e technique for corrtrolling mechamcal plant in the face of internal and external disturbances. By addingtransducers to measure the controller input and the plant output it is possible to obtain an indirect measure of the total disturbance. This may be fed forward to effect cancellation. To obtain the best performance it is necessary to have a good estimate of the plant inertia matrix, but unfortunately this is often not available. Here we present a method for obtaining an estimate ofthe inertia matrix that is amenable to optimisation. By the use of a "probing input" a measure can be obtained of the accuracy of the estimate. Thrs may be updated, either continuously or peridcally so as to dnve the estimate closer and closer to the actual value.

Active Off-Road Seat Suspension System Using Intelligent Active Force Control

“…In other words, AFC algorithm can be applied online because of its relatively reduced computational burden [19]. The AFC approach was primarily used for vibration control by Hewit et al [20] to control motion of a flexible manipulator. Furthermore, the AFC integrated with conventional controller was employed in active suspension systems of vehicles [19,[21][22][23] though it has been applied to roll vibration cancellation of a spray boom [24][25][26][27].…”

Simulation of a suspension system with adaptive fuzzy active force control

“…Active force control (AFC) strategy was first proposed by Hewit and co-workers to control a dynamic system in order to ensure the system remain stable and robust in the presence of known and unknown disturbances [14,15]. AFC has been demonstrated to be superior compared to conventional methods in controlling a robot arm [16,17].…”

“…These can be readily and practically measured using force and acceleration sensors, respectively. The estimated mass (m') of the system should be estimated appropriately using a suitable method such as crude approximation or intelligent techniques [14][15][16][17]. If all the parameters are successfully acquired, then the resulting estimated force (Q') from equation 12 should result in a very robust and stable performance of the control system once this signal is fed back to the AFC control loop.…”