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Sensor Free Power Assisting Control Based on Velocity Control and Disturbance Observer

In this paper, we design a controller that makes a plant sensitive to disturbance, which can be adopted for power assisting systems. Conventional power assisting controllers need force sensing, and only focus on the amplifi- cation of the force. But our proposed controller does not need force sensing. We just focus on the physical dynamics of the assisted plant considering sensitivity function of feedbacked system. Recently, various electric motor systems are used near people including power assisting system. Controllers for those motor systems need other control specifications than precise tracking or strict disturbance rejections. Proposed method can be a good solution for these specifications and can be called frequency weighted assistance control.