A disturbance observer design for backlash compensation

Kang, Moon-Sik; Park, Jong‐Hun; Kim, Jin Hwan; Huh, Uk-Youl

doi:10.1007/s12555-011-0416-8

Cited by 18 publications

(8 citation statements)

References 5 publications

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“…Guo et al [51] configured a sliding-mode disturbance observer to estimate the value of the sum of the flexible vibration and environmental disturbance and composited the nominal controller with the sliding mode disturbance observer to obtain a composite controller, which can effectively solve flexible vibration and environmental disturbances. Kang et al [52] reorganized a humanoid robot system and analyzed the rebound effect of the electromechanical system components for a reorganized system. The system was then reconfigured to detect and compensate for clearances, and a new type of disturbance observer was proposed in the retrofitted system.…”

Section: Disturbance Observation Compensation Methodsmentioning

confidence: 99%

Review and Comparison of Clearance Control Strategies

et al. 2022

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The nonlinearity of clearance has a significant influence on the performance of a system while ensuring the reliability of the variable-speed transmission, and hinders the development of the controlled object according to the predetermined trajectory. Aimed at the transmission clearance problem in different systems, this study summarizes the existing literature and provides a reference for the research and compensation of clearance characteristics. First, the influence of clearance on system performance is analyzed and summarized, and it is shown that the existence of clearance causes problems, such as system response delay and limited cycle oscillation. Then, the control strategies for studying clearance are introduced, which are mainly divided into the control strategy based on the clearance model and the non-clearance model control strategy, and these are respectively explained. Finally, some opinions are proposed for the perfection and development of future clearance nonlinear control theory. Ideas for realizing the suppression of the adverse effects of clearances have their characteristics, and in practical applications, the difficulty of implementation and cost control should be comprehensively considered. In the future, to cope with complex and changeable environments, the clearance control strategy will continue to be optimized.

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Section: Disturbance Observation Compensation Methodsmentioning

confidence: 99%

Review and Comparison of Clearance Control Strategies

et al. 2022

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“…To overcome this nonlinearity, the backlash compensator is required. Now, considering the nonlinear system for the backlash is desired in Brunovsky form as (Byung-Jae et al, 2004;Kang et al, 2011):…”

Section: Backlashmentioning

confidence: 99%

“…Now, considering the nonlinear system for the backlash is desired in Brunovsky form as (Byung-Jae et al, 2004;Kang et al, 2011):…”

Section: Backlashmentioning

confidence: 99%

Adaptive neural network based backstepping control design for MIMO nonlinear systems with actuator nonlinearities

Jamil

Kongprawechnon

Raza

2016

Aircraft Eng & Aerospace Tech

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2016),"A conservative sliding mesh coupling procedure for U-RANS flow simulations", Aircraft Engineering and Aerospace Technology, Vol. 88 Iss 1 pp. 151-158 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of the proposed research methodology is to control the trajectory tracking of EDRM and also to cancel out the effect of no-smooth nonlinearities, which affect the system performance badly. Design/methodology/approach -Robust adaptive neural network (RANN)-based backstepping control design methodology is presented in this paper. The proposed design methodology improves the trajectory tracking and running mean error. Findings -The running mean error results show that the convergence of the proposed RANN-based backstepping technique is very fast as compare to the conventional PD control and due to this proposed control technique, the EDRM follows its desired trajectory perfectly. Practical implications -The EDRM trajectory tracking performance increases which leads to a better working position of EDRM. Originality/value -The originality of this research article is 93 per cent. Backstepping control designMuhammad Usman Jamil et al.

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“…Considering that some disturbances are impossible to measure or forecast, a feedforward compensation based on disturbance observer (DOB) was introduced to improve the control performance in this paper. DOB is an effective technique to estimate disturbances (Li et al, 2014) and widely employed in various practical systems, such as vibration systems (Li et al, 2012), flight control systems (Li and Yang, 2013), mechanical control systems (Kobayashi et al, 2007) and others (Kang et al, 2011; Kim et al, 2010; Yang et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Composite disturbance rejection control for hydraulic classification

Niu

Chen

Wang

et al. 2017

Transactions of the Institute of Measurement and Control

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In the hydraulic classification, precise control for the flow rate of overflow water is vital to guarantee the uniformity and stability of the powder product size. Usually the multiple overflow tanks are supplied by a shared overflow pipeline, which gives rise to large coupling effects in the controls for the flow rates of multiple overflow tanks simultaneously. To solve this issue, it is necessary to keep the water pressure in the shared overflow pipeline accurately constant, which is not easy due to strong disturbances. Several control strategies have been proposed to control the constant water pressure. However, most of them (such as proportional-integral-derivative and model predictive control) reject disturbances just through feedback regulation and do not reject disturbances directly. This may cause poor control performances in the presence of strong disturbances. For improving the disturbance rejection performance, a control scheme based on proportional-integral-derivatives and disturbance observer is put forward in this paper. The scheme employs disturbance observer as feedforward compensation and a proportional-integral-derivative controller as feedback regulation. The disturbance rejection properties under both model mismatches and external disturbances are discussed. The test results illustrate that the proposed method can remarkably improve the disturbance attenuation property compared with the conventional proportional-integral-derivative method in the hydraulic classification process.

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A disturbance observer design for backlash compensation

Cited by 18 publications

References 5 publications

Review and Comparison of Clearance Control Strategies

Review and Comparison of Clearance Control Strategies

Adaptive neural network based backstepping control design for MIMO nonlinear systems with actuator nonlinearities

Composite disturbance rejection control for hydraulic classification

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