Results 1 to 10 of about 33,178 (299)

Finite-Time Disturbance Observer for Robotic Manipulators [PDF]

Sensors, 2019
Robotic manipulators may be subject to different types of disturbances such as unknown payloads, unmodeled dynamics, and environment interaction forces.
Pengfei Cao, Yahui Gan, Xianzhong Dai
doaj   +3 more sources

State Space Disturbance Observer Considering Residual Disturbance [PDF]

IEEE Access, 2020
This paper presents a novel disturbance observer (DOB) for overcoming the limitation of uniformly bounded stability in existing DOB-based control systems and to attain asymptotic stability.
Seungkyu Park, Tae Sung Yoon
doaj   +2 more sources

Performance Recovery and Stability Analysis of Disturbance Observer Under Unmodeled Dynamics [PDF]

Sensors
Feedback system design is often achieved by neglecting the unmodeled dynamics, such as the actuator and sensor, to reduce design complexity. It is based on an assumption that the unmodeled dynamics are fast enough to be negligible.
Youngjun Joo
doaj   +2 more sources

A nonlinear disturbance observer for robotic manipulators [PDF]

IEEE Transactions on Industrial Electronics, 2000
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators.
Wen-Hua Chen 0001, Donald J. Ballance, Peter J. Gawthrop, John O'Reilly   +3 more
core   +5 more sources

An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression [PDF]

IEEE Transactions on Industrial Informatics, 2018
11 pages, 22 figures ...
Hisayoshi Muramatsu, Seiichiro Katsura
openaire   +4 more sources

Disturbance observer–based control of flexible hypersonic flight vehicle

International Journal of Advanced Robotic Systems, 2017
In this article, the disturbance observer–based control is designed for a flexible hypersonic flight vehicle with the external disturbance. The aircraft structure is easy to cause elastic vibration, thus leading to serious change in structural ...
Jianxin Ren, Daipeng Yang
doaj   +2 more sources

Realization of the inverse-model-based disturbance observer in the Luenberger-type observer form and its generalization

SICE Journal of Control, Measurement, and System Integration
This paper gives the state-space representation of the inverse-model-based disturbance observer. The inverse-model-based disturbance observer proposed by Ohishi et al.
Kana Shikada, Noboru Sebe
doaj   +2 more sources

Disturbance-Observer-Based U-Control (DOBUC) for Nonlinear Dynamic Systems. [PDF]

Entropy (Basel), 2021
U-model, which is a control-oriented model set with the property of generally facilitate nonlinearity dynamic inversion/cancellation, has been introduced to the Disturbance Observer-Based control (DOBC) methods to improve the performance of the nonlinear
Li R, Zhu Q, Yang J, Narayan P, Yue X.
europepmc   +3 more sources

Current Loop Decoupling and Disturbance Rejection for PMSM Based on a Resonant Control Periodic Disturbance Observer

Applied Sciences
In the vector control of permanent magnet synchronous motor (PMSM), non-periodic disturbances such as cross-coupling between axes and variations in electrical parameters, along with periodic harmonic disturbances caused by inverter nonlinearities and ...
Jiawei Jin, Liang Guo, Wenqi Lu
doaj   +2 more sources

Combination of Functional and Disturbance Observer for Positive Systems with Disturbances

Mathematics, 2022
This technique note proposes two classes of functional and disturbance observers for positive systems with structural and non-structural disturbances, respectively.
Lanai Huang, Xudong Zhao, Fengyu Lin, Junfeng Zhang   +3 more
doaj   +1 more source