Disturbance Attenuation and Load Decoupling with Hinfty Positive Joint Torque Feedback
نویسندگان
چکیده
Positive joint torque feedback can compensate the detrimental e ects of load torques on position track ing performance However with real world non ideal torque sources simple unity gain positive torque feed back can actually deteriorate the performance or even result in instability An H joint torque feedback is proposed which takes the dynamics and uncertainty of the actuator into account and minimizes the system s sensitivity to load torques In our experimental direct drive system the H positive torque feedback inner loop drastically improved the disturbance attenuation dB and load decoupling properties of a simple PID position controller
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