Title:
OBSERVER CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH03288902
Kind Code:
A
Abstract:
PURPOSE:To increase a state feedback gain by excluding a non-linear item, which is estimated by a sliding mode control means, from a switch input to an observer. CONSTITUTION:A sliding mode control means 2 generates a switch signal T1 by respective items such as the error amount of a position, dynamical friction, acceleration and gravity or the like. Therefore, since a state variable can be estimated only with a linear item by an observer 7 when applying the switch signal T1 while excluding the gravity item or the like as the non-linear item from this signal, the state variable can be estimated without being affected by the non-linear item. Then, this estimated state constant Xn without offset is used. Thus, the state feedback gain of a control system can be increased.
Inventors:
TORII NOBUTOSHI
NIHEI AKIRA
KATO TETSURO
NIHEI AKIRA
KATO TETSURO
Application Number:
JP9131390A
Publication Date:
December 19, 1991
Filing Date:
April 05, 1990
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05B13/04; B25J9/16; G05B13/00; (IPC1-7): G05B13/04
Attorney, Agent or Firm:
Hattori Takeshi
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