Vibration suppression control by an adaptive control system based on estimation of inertia and disturbance

Vibration suppression and disturbance rejection are important issues in recent robot control systems due to the application of high response AC motor drive systems. In some adaptive control schemes, the disturbance is assumed to be constant and is estimated as one parameter of the plant. However, this kind of scheme has a superior vibration suppression effect in practical applications. In this paper, the authors investigate the relationship between the adaptive scheme and the disturbance observer, and clarify the vibration suppression mechanism in adaptive control. Moreover, this result gives some guideline for the selection of optimal adaptation gain.