Extended High-Order Disturbance Observer-Based Clutch Actuator Model Uncertainty Estimation of Ball-Ramp Dual-Clutch Transmission

Kim, Dong‐Hyun; Choi, Seibum B.

doi:10.1109/tcst.2022.3215840

Cited by 4 publications

(1 citation statement)

References 23 publications

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“…However, most of these studies, including the most recent studies, are on or using zero-order DOB [41], [42]. Although some recent studies consider higher-order disturbances [43]- [45], most of them aim to improve tracking performance by improving disturbance suppression characteristics. In contrast, no studies apply HDOB to realize synchronization of the positions of master and slave robots in bilateral control systems as in this study.…”

Section: Contributions Of This Studymentioning

confidence: 99%

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. Several types of conventional two-channel controllers are difficult to contact and operate. A two-channel controller with equivalent performance to the four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zeroand first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also shows that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through bilateral-control experiments in the joint space and workspace.

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Section: Contributions Of This Studymentioning

confidence: 99%

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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Flatness‐based control in successive loops for mechatronic motion transmission systems

Rigatos,

Pomares,

Siano

et al. 2024

Asian Journal of Control

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Mechatronic systems with nonlinear dynamics are met in motion transmission applications for vehicles and robots. In this article, the control problem for the nonlinear dynamics of mechatronic motion transmission systems is solved with the use of a flatness‐based control approach which is implemented in successive loops. The state‐space model of these systems is separated into a series of subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system, and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems. In this chain of subsystems, the state variables of the subsequent ( )‐th subsystem become virtual control inputs for the preceding ‐th subsystem and so on. In turn, exogenous control inputs are applied to the last subsystem and are computed by tracing backwards the virtual control inputs of the preceding subsystems. The whole control method is implemented in successive loops, and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in the following two case studies: (a) control of a permanent magnet linear synchronous motor (PMLSM)‐actuated vehicle's clutch and (ii) control of a multi‐Degrees of Freedom (multi‐DOF) flexible joint robot.

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Fuzzy Disturbance Observers-Based Adaptive Fault-Tolerant Control for an Uncertain Constrained Automatic Flexible Robotic Manipulator

Ren,

Sun,

Liu

2024

IEEE Trans. Fuzzy Syst.

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Extended High-Order Disturbance Observer-Based Clutch Actuator Model Uncertainty Estimation of Ball-Ramp Dual-Clutch Transmission

Cited by 4 publications

References 23 publications

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Flatness‐based control in successive loops for mechatronic motion transmission systems

Fuzzy Disturbance Observers-Based Adaptive Fault-Tolerant Control for an Uncertain Constrained Automatic Flexible Robotic Manipulator

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