Controller using estimator

TL;DR: In this article, a robot (driving device) which suffers from disturbance accompanied with a weaving operation fluctuated with a frequency ω is controlled by a controller using a periodic disturbance estimating observer (an estimator) 16 which estimates a weaving frequency and incorporates an attenuating fluctuation characteristic.

Abstract: PROBLEM TO BE SOLVED: To cancel much disturbance related to a controlled system without affecting disturbance in the other frequencies. SOLUTION: A robot (driving device) 12 which suffers from disturbance accompanied with a weaving operation fluctuated with a frequency ω is controlled by a controller 11 using a periodic disturbance estimating observer (an estimator) 16 which estimates a weaving frequency ω to perform feedback control, wherein the periodic disturbance estimating observer 16 provides an oscillation characteristic oscillating with the disturbance fluctuation frequency ωas a disturbance characteristic, estimates the disturbance based on the disturbance characteristic and incorporates a band pass characteristic passing the disturbance fluctuation frequency ω. Alternatively, the periodic disturbance estimating observer 16 provides the oscillation characteristic oscillating with the disturbance fluctuation frequency ω as the disturbance characteristic, estimates the disturbance based on the disturbance characteristic and incorporates an attenuating fluctuation characteristic. COPYRIGHT: (C)2004,JPO