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• W2319063559 abstract "In the field of Mechatronics, small-sized actuators with multi-degrees of freedom are desired so that dextrous performance is achieved, especially for small size robot development. We have developed a wire-driven system with a linearactuator to solve this problem. The characteristics of wire-drives are rather complicated because of its unknown stiffness, backlash and friction. After parameter identification as a 2-mass model, H∞ controller was designed for this model which has a integral function in its transfer function. The H∞ controller shows a good performance compare with observer-based-control and sliding-mode-control. It has good rdsponse for reference and ohserving noise rejaection and it is robust." @default.
• W2319063559 created "2016-06-24" @default.
• W2319063559 creator A5030882525 @default.
• W2319063559 creator A5038664472 @default.
• W2319063559 date "1994-01-01" @default.
• W2319063559 modified "2023-10-06" @default.
• W2319063559 title "Robust Control of Wire-Driven System using Linear DC Motor." @default.
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• W2319063559 doi "https://doi.org/10.1541/ieejias.114.1115" @default.
• W2319063559 hasPublicationYear "1994" @default.
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