Toyota Jidosha Kabushiki Kaisha

The University of Tokyo

Akiyuki Hasegawa

Taro Takahashi

Hiroshi Fujimoto

A control system according to an embodiment includes a motor configured to drive a link, a first sensor configured to detect information about the driving by the motor or information about a relation between the driving means and the load member as first sensor information, a second sensor configured to detect information about a displacement of the link as second sensor information, and a control unit configured to perform feedback control of the driving means so as to follow a command value in a two-inertial system model including an inertial system on a load side and an inertial system on a driving side. The control unit includes a disturbance observer configured to estimate a disturbance, and a filter configured to convert an estimated value of the disturbance into a driving force of the motor.

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Tokyo, Japan

Akiyuki Hasegawa