Disturbance observer based robust control for industrial robots with flexible joints

2007 ◽  
Author(s):  
Sang-Kyun Park ◽  
Sang-Hun Lee
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Industrial Robots ◽  
Flexible Joints

scholarly journals Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 215235-215245
Author(s):  
Yuqi Wang ◽  
Qi Lin ◽  
Jiacai Huang ◽  
Lei Zhou ◽  
Jinjiang Cao ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Parallel Robot

Integral terminal sliding-mode robust vibration control of large space intelligent truss structures using a disturbance observer

2021 ◽  
pp. 095441002110290
Author(s):  
Dalong Tian ◽  
Jianguo Guo
Keyword(s):  
Robust Control ◽  
Forced Vibration ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Truss Structures ◽  
Model Parameters ◽  
Large Space ◽  
Terminal Sliding Mode ◽  
Piezoelectric Stack Actuator

This study aims to develop an advanced integral terminal sliding-mode robust control method using a disturbance observer (DO) to suppress the forced vibration of a large space intelligent truss structure (LSITS). First, the dynamics of the electromechanical coupling of the piezoelectric stack actuator and the LSITS, based on finite element and Lagrangian methods, are established. Subsequently, to constrict the vibration of the structure, a novel integral terminal sliding-mode control (ITSMC) law for the DO is used to estimate the parameter perturbation of the LSITS based on a continuous external disturbance. Simulation results show that, under a forced vibration and compared with the ITSMC system without a DO, the displacement amplitude of the ITSMC system with the DO is effectively reduced. In the case where the model parameters of the LSITS deviate by ±50%, and an unknown continuous external disturbance exists, the control system with the DO can adequately attenuate the structural vibration and realize robust control. Concurrently, the voltage of the employed piezoelectric stack actuator is reduced, and voltage jitter is alleviated.

Robust Control of Commercial Vehicle’s Speed Using Disturbance Observer

2021 ◽  
Author(s):  
Kyungjoo Bang ◽  
Seunghyun Kim ◽  
Donghyuk KIM ◽  
Ilhwan KIM
Keyword(s):  
Robust Control ◽  
Disturbance Observer

Robust Control of Industrial Robots

1985 ◽  
Vol 18 (16) ◽  
pp. 215-219 ◽  
Author(s):  
G. De Maria ◽  
L. Sciavicco ◽  
B. Siciliano
Keyword(s):  
Robust Control ◽  
Industrial Robots

Modeling of Aerodynamic Database and Robust Control Using Disturbance Observer for Quadcopter

2018 ◽  
Vol 24 (6) ◽  
pp. 519-531 ◽  
Author(s):  
Hoijo Jeaong ◽  
Seunghwan Jo ◽  
Jinyoung Suk ◽  
Seungkeun Kim ◽  
Yung-Gyo Lee ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Aerodynamic Database
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