Disturbance Rejection for Flexible Joint Based on Error-Driven Equivalent-Input-Disturbance Approach
The control of flexible joint systems can be affected largely by external disturbances due to the inherent low stiffness and low damping characteristics. This paper proposes an error-driven equivalent-input-disturbance (EID) approach to reduce the effect of external disturbances on flexible joint systems. First, the dynamic model of a flexible joint is analyzed. A control system structure based on error-driven EID approach is designed. It uses an observer and an EID estimator to estimate the error generated by external disturbances and compensate for it. Then, the stability of the error-driven EID-based control system is analyzed. Finally, the effectiveness of the proposed approach is verified by simulation results.
Authors
- Tao Yang (ORCID: https://orcid.org/0000-0003-4090-8497)
- Youwu Du (ORCID: https://orcid.org/0000-0001-8078-7197)
- Bo Li (ORCID: https://orcid.org/0000-0003-3950-2019)
- Junjie Zhao (ORCID: https://orcid.org/0000-0003-3475-2908)
- Xue Chen (ORCID: https://orcid.org/0000-0002-8141-2431)
Institutions
- Jiangsu University of Technology (CN)
Publication Details
- Published
- 2025-03-26
- DOI
- https://doi.org/10.1109/icit63637.2025.10965259
- Primary Topic
- Control Systems in Engineering
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Natural Science Foundation of Jiangsu Province