Disturbance Observer Design for Utilizing of Time-delayed Vision Measurements in High Dynamical Systems

Wang, Shuo; Just, Viktor; Trächtler, Ansgar

doi:10.1016/j.protcy.2016.08.014

Cited by 1 publication

(4 citation statements)

References 9 publications

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“…Select a feedback controller for nominal plant P 0 (s) = s −2 as a PD controller C(s) = 1 + 2 s, in order to obtain smooth transient response. We can easily verify that when control system does not have DOB, this feedback controller satisfies the robust stability condition (21) for the time delay as shown below.…”

Section: Examplementioning

confidence: 97%

“…In Figure 11, we can check that all the (20), (21), and ( 22) are satisfied and therefore, we can use W Q as weight function for the design of Q.…”

Section: Examplementioning

confidence: 98%

“…But if the delay time is uncertain or changed, time delay property still remains and it should be taken into account in the design of the Q‐filter. This type of uncertain time delay often encounters in the control system designs such as bilateral teleoperator, process control, network control, vision control and it makes the control system design much more difficult 16–21 …”

Section: Introductionsmentioning

confidence: 99%

“…This type of uncertain time delay often encounters in the control system designs such as bilateral teleoperator, process control, network control, vision control and it makes the control system design much more difficult. [16][17][18][19][20][21] There are some applications that have applied DOB to the time delay system. [22][23][24] In Reference 22 and later relevant studies, communication disturbance observer (CDOB) were introduced to compensate the time delay on the network and this method has been used in bilateral teleoperation system.…”

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confidence: 99%

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A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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Summary The disturbance observer (DOB) based robust control is widely used to suppress the effect of model uncertainty and disturbances. Improvement of disturbance suppression performance in DOB based control (DOBC) is achieved by expansion of the Q‐filter's bandwidth or equivalently increment of its cutoff frequency. However, if the system has time delay property, the bandwidth cannot be arbitrarily extended because of the stability demand of the closed loop system. Although the Q‐filter's bandwidth is restricted, there is still room for improving disturbance suppression performance by elaborately designing the Q‐filter's structure and coefficients. For the optimized design of Q‐filter, at the beginning of this paper, based on the analysis of the model uncertainty due to time delay and its upper bound, a new robust stability condition of closed loop system is derived as a type of inequality on complementary sensitivity function of whole closed loop system with DOB. Then a mixed sensitivity optimization problem for optimizing disturbance suppression performance under this stability condition is formulated with structural constraint. Finally, in order to solve this optimization problem, pseudo loop factorization and shaping method is used to transform it into standard H∞$$ {H}_{\infty } $$ control problem without the structural constraint so that it can be solved systematically. The results of illustrative examples and simulations validate the effectiveness of the proposed method.

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Section: Examplementioning

confidence: 97%

“…In Figure 11, we can check that all the (20), (21), and ( 22) are satisfied and therefore, we can use W Q as weight function for the design of Q.…”

Section: Examplementioning

confidence: 98%

Section: Introductionsmentioning

confidence: 99%