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Daesung JUNG Youngjun YOO Sangchul WON
This paper proposes an updating state dependent disturbance observer (USDDOB) to reject position dependent disturbances when parameters vary slowly, and input and output are time-delayed. To reject the effects of resultant slowly-varying position dependent disturbances, the USDDOB uses the control method of the state dependent disturbance observer (SDDOB) and time-invariance approximation. The USDDOB and a main proportional integral (PI) controller constitute a robust controller. Simulations and experiments using a 1-degree-of-freedom (1-DOF) tilted planar robot show the effectiveness of the proposed method.
Daesung JUNG Youngjun YOO Yujin JANG Sangchul WON
We propose a motor speed ripple elimination method using a state dependent disturbance observer (SDDOB). The SDDOB eliminates the state dependent disturbance in the system regardless of the operation frequency, input time delay and output time delay. The SDDOB and a main proportional integral (PI) controller constitute a robust motor speed controller. Experimental results show the effectiveness of the proposed method.