Disturbance Observer in Robust DC Motor Control

The disturbance observer is a specific method of designing a two degree of freedom control structure to achieve insensitivity to modeling error and disturbance rejection. It has been successfully applied in a variety of motion control applications. In motion control, the major sources of uncertainties are friction, inertia, and external disturbances. These uncertainties should be taken into account by any robust motion controller. In this paper, this element is a PD (proportional-derivative) controller. The disturbance observer proves its advantages through the simulation and experiments. With disturbance observer, better tracking performance can be achieved with less control energy.

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Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

ASEAN Journal of Chemical Engineering ◽

10.22146/ajche.50039 ◽

2011 ◽

Vol 11 (1) ◽

pp. 16 ◽

Cited By ~ 1

Author(s):

Pisit Sukkarnkha ◽

Chanin Panjapornpon

Keyword(s):

Disturbance Rejection ◽

Control Structure ◽

Control Method ◽

Random Noise ◽

Degree Of Freedom ◽

Control Technique ◽

Input Output ◽

Tracking Controller ◽

Two Degree Of Freedom ◽

Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

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Active disturbance rejection motion control of spherical robot with parameter tuning

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-05-2021-0099 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Manlu Liu ◽

Rui Lin ◽

Maotao Yang ◽

Anaid V. Nazarova ◽

Jianwen Huo

Keyword(s):

Motion Control ◽

Disturbance Rejection ◽

Parameter Tuning ◽

Pso Algorithm ◽

State Equation ◽

Expected Value ◽

Spherical Robot ◽

Motion Controller ◽

Actual Case ◽

Content Type

Purpose The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID. Findings By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability. Practical implications The proposed method can be applied to the robot control field. Originality/value A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

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Estimation Error Based Disturbance Observer Design for Flexible Loop Shaping

Electronics ◽

10.3390/electronics7120358 ◽

2018 ◽

Vol 7 (12) ◽

pp. 358 ◽

Cited By ~ 2

Author(s):

Sangmin Suh

Keyword(s):

Disturbance Observer ◽

Closed Loop ◽

Control Structure ◽

Storage Systems ◽

Estimation Error ◽

Observer Design ◽

Experimental Results ◽

External Disturbances ◽

Flexible Loop ◽

Closed Loop Systems

This note presents an estimation error based disturbance observer (EEDOB) to reduce the effects of external disturbances. In the proposed control structure, a difference between an estimator output and a plant output is considered as an equivalent disturbance. Therefore, when a disturbance appears, the proposed disturbance observer (DOB) is activated. Unlike conventional DOB, this method does not require the plant inverse model or additional stabilizing filters. In addition, the proposed method always satisfies closed loop systems stability, which is definitely different from conventional DOB. To verify the effectiveness, this method was applied to commercial storage systems. From the experimental results, it is confirmed that tracking performance is improved by 23.5%.

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Development of a Hybrid Path Planning Algorithm and a Bio-Inspired Control for an Omni-Wheel Mobile Robot

Sensors ◽

10.3390/s20154258 ◽

2020 ◽

Vol 20 (15) ◽

pp. 4258 ◽

Cited By ~ 1

Author(s):

Changwon Kim ◽

Junho Suh ◽

Je-Heon Han

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Motion Control ◽

Control Structure ◽

Optimal Path ◽

Tracking Task ◽

Motion Controller ◽

Planning Algorithm ◽

Omni Wheel ◽

Path Planning Algorithm

This research presents a control structure for an omni-wheel mobile robot (OWMR). The control structure includes the path planning module and the motion control module. In order to secure the robustness and fast control performance required in the operating environment of OWMR, a bio-inspired control method, brain limbic system (BLS)-based control, was applied. Based on the derived OWMR kinematic model, a motion controller was designed. Additionally, an optimal path planning module is suggested by combining the advantages of A* algorithm and the fuzzy analytic hierarchy process (FAHP). In order to verify the performance of the proposed motion control strategy and path planning algorithm, numerical simulations were conducted. Through a point-to-point movement task, circular path tracking task, and randomly moving target tracking task, it was confirmed that the suggesting motion controller is superior to the existing controllers, such as PID. In addition, A*–FAHP was applied to the OWMR to verify the performance of the proposed path planning algorithm, and it was simulated based on the static warehouse environment, dynamic warehouse environment, and autonomous ballet parking scenarios. The simulation results demonstrated that the proposed algorithm generates the optimal path in a short time without collision with stop and moving obstacles.

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Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control ◽

10.1115/dscc2018-9200 ◽

2018 ◽

Author(s):

Bingheng Wang ◽

Marko Mihalec ◽

Yongbin Gong ◽

Dario Pompili ◽

Jingang Yi

Keyword(s):

Motion Control ◽

Feedback Linearization ◽

Disturbance Observer ◽

Model Simulation ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Motion Controller ◽

Unknown Disturbances ◽

Linearized Model ◽

Twisting Algorithm

This paper presents a trajectory-tracking method using disturbance observer-based model predictive control (MPC) for small autonomous underwater vehicles (AUV). The goal of the work is to design a robust motion controller for AUVs under the system constraints and unknown disturbances such as hydrodynamics and ocean currents. Super-twisting-algorithm (STA) is employed to design the disturbance observer and its output is used and included in the feedback linearization law to compensate for the disturbances. The control inputs are generated using the MPC design with the nominal linearized model. Simulation results are included to validate the effectiveness of the control design and also compare with the traditional MPC motion control.

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Disturbance Rejection Using Two Degree of Freedom Repetitive Control Through Mixed Sensitivity Optimization

10.1115/imece2001/dsc-24575 ◽

2001 ◽

Author(s):

Cheng-Lun Chen ◽

George T.-C. Chiu

Keyword(s):

Disturbance Rejection ◽

Control Structure ◽

Repetitive Control ◽

Degree Of Freedom ◽

Sequential Design ◽

Gear Train ◽

Periodic Disturbance ◽

Sensitivity Problem ◽

Two Degree Of Freedom ◽

Train System

Abstract In this paper, a repetitive control based 2 degree-of-freedom (DOF) controller for a SISO motor/gear-train system is proposed. Instead of sequential design, it is shown that the optimal 2 DOF controller for such system can be obtained simultaneously by solving an mixed-sensitivity problem. The simulation results are presented to show the feasibility and effectiveness of the proposed control structure for periodic and non-periodic disturbance reduction for motor/gear-train velocity regulation.

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Motion Control of a Two-Degree-of-Freedom Linear Resonant Actuator without a Mechanical Spring

Sensors ◽

10.3390/s20071954 ◽

2020 ◽

Vol 20 (7) ◽

pp. 1954

Author(s):

Gyunam Kim ◽

Katsuhiro Hirata

Keyword(s):

Motion Control ◽

Control Method ◽

Design Method ◽

Degree Of Freedom ◽

Position Sensor ◽

Motion Controller ◽

Element Analysis ◽

Mechanical Spring ◽

Elliptical Motion ◽

Two Degree Of Freedom

This study aims to present a new two-degree-of-freedom (DOF) linear resonant actuator (LRA) and its motion control method without a position sensor. The design method of 2-DOF LRA which resonates with only detent force without a mechanical spring is proposed. Since the information of displacement and direction is required to control 2-DOF LRA, a sensor or an estimator is needed. Therefore, we proposed a position estimator and a motion controller for 2-DOF LRA. This paper proved that reciprocating motion, elliptical motion, and scrolling motion can be controlled without a position sensor. Finite element analysis (FEA) and dynamic simulation results validated the proposed method as well.

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