Implementation of Disturbance Attenuation Controller Based on Frequency Estimation

Narikiyo, Tatsuo; Fuwa, Katsuhiko; Murano, Takeshi

doi:10.1541/ieejeiss.128.1727

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…The estimateω is used to construct the periodic disturbance observer [10], [11]. This observer estimates the human pedaling torque less contaminated by the noise.…”

Section: Overview Of the Proposed Systemmentioning

confidence: 99%

“…6 Block diagram of the proposed power assist control system. [10], [11] We consider the following SISO system with the input dis-…”

Section: Frequency Estimationmentioning

confidence: 99%

“…Although this method works for artificial quasiperiodic signals with relatively small fluctuations, it fails to deal with actual human pedaling because real pedaling data contains signals with a wide range of frequencies. A suppression scheme for periodic disturbances with fluctuating frequencies was proposed in [10]. This method is based on online frequency estimation and state estimation by periodic disturbance observer.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Hatada

Hirata

Sato

2017

SICE Journal of Control, Measurement, and System Integration

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: This paper addresses the problem of energy-efficient power assist control for quasiperiodic motions. The simplest assist method would be to apply additional torque in proportion to the instantaneous value of torque generated by a user. In our previous study, it was shown that energy efficiency improves by flattening the torque pattern. To cope with the frequency fluctuation of our motion, we introduce a periodic disturbance observer with a frequency estimator and suppress the pulsation of the human torque based on a disturbance observer framework. The effectiveness of the proposed method is evaluated through numerical simulations and experiments with an actual electric bicycle being pedaled by a human.

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“…The estimateω is used to construct the periodic disturbance observer [10], [11]. This observer estimates the human pedaling torque less contaminated by the noise.…”

Section: Overview Of the Proposed Systemmentioning

confidence: 99%

“…6 Block diagram of the proposed power assist control system. [10], [11] We consider the following SISO system with the input dis-…”

Section: Frequency Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Hatada

Hirata

Sato

2017

SICE Journal of Control, Measurement, and System Integration

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Design of a servo control system using a notch filter for a flexible arm and its applications

Mori

2013

Electrical Engineering Japan

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This paper proposes a new design method for a frequency‐dependent servo system for the positioning of flexible structures. In order to reduce sensor costs and to suppress spillover phenomena caused by ignored elastic modes of the plant, we introduce a prefilter into an input which possesses the characteristics of a notch filter. The proposed method allows for the design of the specified characteristics of the prefilter and for precise assignment of poles to desirable locations in a closed‐loop system. As a result, the tradeoﬀ problem between suppression and transients can be resolved. The results of simulations and experiments are given in order to verify the usefulness of this method. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 183(1): 39–50, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22343

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Energy-efficient power assist control with periodic disturbance observer and frequency estimator

Hatada

Hirata

Sato

2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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Implementation of Disturbance Attenuation Controller Based on Frequency Estimation

Cited by 4 publications

References 9 publications

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Design of a servo control system using a notch filter for a flexible arm and its applications

Energy-efficient power assist control with periodic disturbance observer and frequency estimator

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