Real-Time Road Bank Estimation With Disturbance Observers for Vehicle Control Systems

Hashemi, Ehsan; Khajepour, Amir; Moshchuk, Nikolai; Chen, Shih-Ken

doi:10.1109/tcst.2021.3062384

Cited by 8 publications

(7 citation statements)

References 25 publications

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“…Note that the DKF is an unconstrained Kalman filter, while an example of a constrained Kalman filter implemented in a vehicle control system for real-time road bank estimation can refer to ref. [31].…”

Section: Methodsmentioning

confidence: 99%

A brief survey of observers for disturbance estimation and compensation

Li,

Xing,

Hashemi

et al. 2023

Robotica

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An accurate dynamic model of a robot is fundamentally important for a control system, while uncertainties residing in the model are inevitable in a physical robot system. The uncertainties can be categorized as internal disturbances and external disturbances in general. The former may include dynamic model errors and joint frictions, while the latter may include external payloads or human-exerted force to the robot. Disturbance observer is an important technique to estimate and compensate for the uncertainties of the dynamic model. Different types of disturbance observers have been developed to estimate the lumped uncertainties so far. In this paper, we conducted a brief survey on five typical types of observers from a perspective of practical implementation in a robot control system, including generalized momentum observer (GMO), joint velocity observer (JVOB), nonlinear disturbance observer (NDOB), disturbance Kalman filter (DKF), and extended state observer (ESO). First, we introduced the basics of each observer including equations and derivations. Two common types of disturbances are considered as two scenarios, that is, constant external disturbance and time-varying external disturbance. Then, the observers are separately implemented in each of the two simulated scenarios, and the disturbance tracking performance of each observer is presented while their performance in the same scenario has also been compared in the same figure. Finally, the main features and possible behaviors of each type of observer are summarized and discussed. This survey is devoted to helping readers learn the basic expressions of five typical observers and implement them in a robot control system.

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Section: Methodsmentioning

confidence: 99%

A brief survey of observers for disturbance estimation and compensation

Li,

Xing,

Hashemi

et al. 2023

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…In our approach, the observer estimates the lumped uncertainties and disturbances p(t) (although, for brevity, we call it nonlinear disturbance observer), consequently with the model in (16). The observer is described by (22)…”

Section: B Nonlinear Disturbance and Uncertainty Observermentioning

confidence: 99%

“…However, d 3 and d 6 are matched disturbances, so they can be directly compensated by the SMC module of the controller. Proposition 3: The controller defined by the control laws ( 27) and ( 28), the sliding manifold (26) and the NDO (22) for the system (16) assures that the system reaches the sliding mode, if k s and k e are properly chosen.…”

Section: Sliding Mode Controllermentioning

confidence: 99%

“…As analyzed in Appendix C, the estimation errors for lumped disturbances pi and uncertainties maximize when ṗi = ṗi,max . Considering this worst-case situation, substituting pi by the maximum estimation errors and considering the maximum values for p 3 and p 6 , the following expressions are obtained: (81) Therefore, it is proven that the control actions (28) and (29) along with the NDO defined by (22) drive the system to the sliding mode. Consequently, the analysis of error dynamics in Section 3.4 is valid.…”

Section: Appendix D Reachability Of the Sliding Modementioning

confidence: 99%

“…The combination with an adaptive disturbance observer (ADO) was proposed to improve control accuracy. Apart from the aforementioned ones, there exist many other disturbance rejection techniques that have been successfully applied [20]- [22]. Finally, it is worth mentioning that, apart from SMC, other approaches based on neuro-adaptive methods have been used to control systems with uncertainty [23], [24].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Motion Control Architecture for an Upper-Limb Rehabilitation Exosuit

Pont-Esteban¹,

Sánchez-Urán²,

Ferré³

2022

IEEE Access

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Upper-limb exosuits are light wearable devices suitable for applications such as rehabilitation or assistance in industrial environments. One of the main drawbacks of these systems is the amount of uncertainties intrinsic to the nature of the device. Moreover, the direct interaction between the exosuit and its user adds disturbances to the system. Therefore, a robust control architecture to these phenomena is required for its appropriate control. In this article, a robust motion (position and speed) control architecture based on a cascade proportional-integral (PI) and a sliding mode controller (SMC), and a nonlinear disturbance observer (NDO) for the upper-limb cable-driven rehabilitation exosuit LUXBIT is designed. We call the proposed controller by the acronym CPISDO. The SMC nature allows to compensate the matched disturbances and uncertainties, while the NDO counteracts the unmatched ones. The PI component helps in reducing tracking error. Dynamic modelling, system architecture and control design are addressed. The CPISDO controller has been implemented over the exosuit and several experiments have been performed over 10 healthy subjects to evaluate the controller's tracking performance as well as the disturbance rejection. Supertwisting (a state-of-the-art SMC) and PI controllers have been implemented for CPISDO validation. Results are compared with other state-of-the-art solutions.INDEX TERMS Motion control, exoskeletons, control architectures, rehabilitation robotics, sliding-mode control.

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Real Time Estimation of Road Bank Disturbance and Vehicle Side Slip Angle

Khasawneh

Das

2022

Int. J. ITS Res.

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Real-Time Road Bank Estimation With Disturbance Observers for Vehicle Control Systems

Cited by 8 publications

References 25 publications

A brief survey of observers for disturbance estimation and compensation

A brief survey of observers for disturbance estimation and compensation

Robust Motion Control Architecture for an Upper-Limb Rehabilitation Exosuit

Real Time Estimation of Road Bank Disturbance and Vehicle Side Slip Angle

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