Robust Disturbance Observer for Two-Inertia System

Yun, Jong Nam; Su, Jianbo; Kim, Yong Il; Kim, Yong Chun

doi:10.1109/tie.2012.2194976

Cited by 121 publications

(64 citation statements)

References 20 publications

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“…Thus, there exist matrices Π ∈ R n×(2m+1) and Γ ∈ R 1×(2m+1) satisfying (9). If the matrix pair (S, Γ) is not observable, then the "output regulation" theory [22] implies that the unobservable mode of w(t) will not appear in the output e(t) even if there is no control action for that mode.…”

Section: Adaptive Add-on Regulatormentioning

confidence: 99%

Adaptive Add-On Output Regulator for Rejection of Sinusoidal Disturbances and Application to Optical Disc Drives

Kim

Shim

2014

IEEE Trans. Ind. Electron.

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In this paper, we revisit an add-on output feedback controller that achieves output regulation and disturbance rejection. By add-on controller, we mean an additional controller, which runs harmonically with a preinstalled controller that has been in operation for the plant. When the disturbance attenuation performance of the preinstalled controller is not satisfactory, the add-on controller can be used to eliminate the disturbance. Some advantages of the proposed add-on controller include that it can be designed without much information about the preinstalled controller and it can be plugged in the feedback loop any time in operation without causing unnecessary transient response. In particular, we propose an adaptive add-on controller, which can eliminate sinusoidal disturbances of unknown frequencies. Both simulation and experimental results of the track-following control for optical disc drive systems confirm the effectiveness of the proposed method.

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Section: Adaptive Add-on Regulatormentioning

confidence: 99%

Adaptive Add-On Output Regulator for Rejection of Sinusoidal Disturbances and Application to Optical Disc Drives

Kim

Shim

2014

IEEE Trans. Ind. Electron.

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“…It is necessary to drive these machines robustly against disturbances such as gravity or reaction force caused by an environment (3) . Therefore the robust control against disturbance has been researched for a long time (4) (5) . Generally, industrial machines include many flexible elements such as gears and couplings (6) .…”

Section: Introductionmentioning

confidence: 99%

Spatial Disturbance Suppression of a Flexible System Based on Wave Model

Inoue

Katsura

2018

IEEJ Journal IA

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Currently, there is a need for precise motion control of industrial machines. For precise motion, it is important to keep the motion robust against disturbances such as gravity or reaction force from the environment. Industrial machines include flexible components such as gears and couplings, and they are modeled as a resonant system. Models expressing resonant systems are classified into lumped-parameter model and distributed-parameter model. Conventionally, the control theory based on the lumped-parameter model has been widely researched because that model is easy to deal with. However, the position which a disturbance acts on is limited to the generator or the lumped inertia of the load in these methods. Therefore, there is a danger that the disturbance suppression performance may deteriorate in the case that a distributed disturbance acts on the load. Here, the distributed-parameter model considering the position which a disturbance acts on, is proposed based on the wave equation. Wave-based modeling can consider the spatial dynamics of a disturbance. As a result, conventional disturbance suppression control is extended for the spatial dynamics.

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“…However, the state variables may not be used directly because these variables are difficult to measure in reality. Thus, the estimation and observation are needed to estimate these variables [4,5,6,7,8,9]. In many papers, Luenberger observers are applied to observe the unmeasured state variables for the linear system with small measurement noise and nonchangeable parameter [10].…”

Section: Introductionmentioning

confidence: 99%

Robust tracking and vibration suppression for nonlinear two-inertia system via modified dynamic surface control with error constraint

Wang

Ren

et al. 2016

Neurocomputing

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. Robust tracking and vibration suppression for nonlinear two-inertia system via modified dynamic surface control with error constraint. Neurocomputing, 203,[73][74][75][76][77][78][79][80][81][82][83][84][85] University of Bristol -Explore Bristol Research General rightsThis document is made available in accordance with publisher policies. Please cite only the published version using the reference above. AbstractThis paper proposes a modified dynamic surface control (DSC) for speed tracking and torsional vibration suppression for two-inertia systems with nonlinear friction. The proposed controller contains two parts: tracking controller and friction compensator. The tracking controller is designed by modifying dynamic surface control, which replaces the traditional first-order filter with a high-gain tracking differentiator (HGTD). Meanwhile, an improved prescribed performance function with error constraint is also presented and incorporated into DSC design. As for the friction compensator, the nonlinear nonsmooth friction is parameterized and then compensated using echo state neural networks (ESNs). The state observer with friction compensation is used to estimate unmeasurable load speed and torsional torque. The effectiveness of proposed control scheme is verified by simulation and experiment results.

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Robust Disturbance Observer for Two-Inertia System

Cited by 121 publications

References 20 publications

Adaptive Add-On Output Regulator for Rejection of Sinusoidal Disturbances and Application to Optical Disc Drives

Adaptive Add-On Output Regulator for Rejection of Sinusoidal Disturbances and Application to Optical Disc Drives

Spatial Disturbance Suppression of a Flexible System Based on Wave Model

Robust tracking and vibration suppression for nonlinear two-inertia system via modified dynamic surface control with error constraint

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