著者

〓 錦華 大山 恭弘 小林 裕之 忻 欣

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.41, no.10, pp.797-802, 2005-10-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

2 2

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This paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method.