Rejection of the Position Dependent Disturbance Torque of Motor System with Slowly Varying Parameters and Time Delays
SCIE
SCOPUS
- Title
- Rejection of the Position Dependent Disturbance Torque of Motor System with Slowly Varying Parameters and Time Delays
- Authors
- Jung, D; Yoo, Y; Won, S
- Date Issued
- 2015-07
- Publisher
- IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG
- Abstract
- This paper proposes an updating state dependent disturbance observer (USDDOB) to reject position dependent disturbances when parameters vary slowly, and input and output are time-delayed. To reject the effects of resultant slowly-varying position dependent disturbances, the USDDOB uses the control method of the state dependent disturbance observer (SDDOB) and time-invariance approximation. The USDDOB and a main proportional integral (PI) controller constitute a robust controller. Simulations and experiments using a 1-degree-of-freedom (1-DOF) tilted planar robot show the effectiveness of the proposed method.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/35421
- DOI
- 10.1587/TRANSFUN.E98.A.1494
- ISSN
- 1745-1337
- Article Type
- Article
- Citation
- IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, vol. E98A, no. 7, page. 1494 - 1503, 2015-07
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