Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 5

disturbance observer Related Publications

5 Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving

Authors: Christian Rathgeber, Franz Winkler, Dirk Odenthal, Steffen Muller

Abstract:

In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.

Keywords: Autonomous Driving, Cooperative Driving, disturbance observer, trajectory tracking, robust control

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4 Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System

Authors: Toshiyuki Satoh, Naoki Saito, Jun-Ya Nagase, Norihiko Saga, Hiroki Hara

Abstract:

This paper addresses a control system design for a table drive system based on the disturbance observer (DOB)-based predictive functional critical control (PFCC). To empower the previously developed DOB-based PFC to handle constraints on controlled outputs, we propose to take a critical control approach. To this end, we derive the transfer function representation of the PFC controller and yield a detailed design procedure. The effectiveness of the proposed method is confirmed through an experimental evaluation.

Keywords: Mechatronics, Motion Control, critical control, disturbance observer, predictive functional control, table drive systems

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3 Predictive Functional Control with Disturbance Observer for Tendon-Driven Balloon Actuator

Authors: Toshiyuki Satoh, Jun-Ya Nagase, Norihiko Saga, Koichi Suzumori

Abstract:

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: disturbance observer, predictive functional control, pneumatic balloon, rubber artificial muscle

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2 Design of EDFA Gain Controller based on Disturbance Observer Technique

Authors: Seong-Ho Song, Ki-Seob Kim, Seop-Hyeong Park, Seon-Woo Lee

Abstract:

Based on a theoretical erbium-doped fiber amplifier (EDFA) model, we have proposed an application of disturbance observer(DOB) with proportional/integral/differential(PID) controller to EDFA for minimizing gain-transient time of wavelength -division-multiplexing (WDM) multi channels in optical amplifier in channel add/drop networks. We have dramatically reduced the gain-transient time to less than 30╬╝sec by applying DOB with PID controller to the control of amplifier gain. The proposed DOB-based gain control algorithm for EDFA was implemented as a digital control system using TI's DSP(TMS320C28346) chip and experimental results of the system verify the excellent performance of the proposed gain control methodology.

Keywords: wdm, disturbance observer, EDFA, gain control

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1 Two Stage Control Method Using a Disturbance Observer and a Kalman Filter

Authors: Yoshihisa Ishida, Hiromitsu Ogawa, Manato Ono, Naohiro Ban

Abstract:

This paper describes the two stage control using a disturbance observer and a Kalman filter. The system feedback uses the estimated state when it controls the speed. After the change-over point, its feedback uses the controlled plant output when it controls the position. To change the system continually, a change-over point has to be determined pertinently, and the controlled plant input has to be adjusted by the addition of the appropriate value. The proposed method has noise-reduction effect. It changes the system continually, even if the controlled plant identification has the error. Although the conventional method needs a speed sensor, the proposed method does not need it. The proposed method has a superior robustness compared with the conventional two stage control.

Keywords: Optimal Control, Kalman Filter, disturbance observer, two stage control

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