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The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
This study proposes post-quantum encrypted control systems based on dynamic-key Learning with Errors (LWE) encryption schemes. The proposed method develops update maps that simultaneously update the private key and ciphertexts within the…
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper…
This letter presents a nonlinear disturbance observer-parameterized control barrier function (DOp-CBF) designed for a robust safety control system under external disturbances. This framework emphasizes that the safety bounds are relevant to…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
By employing a unified state-space design framework, this paper proposes a novel systematic analysis and synthesis method that facilitates the implementation of both conventional zero-order (ZO) and high-order (HO) DObs. Furthermore, this…
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance observer (DOB) is used to estimate and mitigate disturbances…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the…
Modern computing systems inherently trust human input devices, creating an exploitable attack surface for adversarial automation. USB Human Interface Device (HID) emulation attacks, such as those enabled by the USB Rubber Ducky, exploit…
The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but…
Grasping and releasing objects would cause oscillations to delivery drones in the warehouse. To reduce such undesired oscillations, this paper treats the to-be-delivered object as an unknown external disturbance and presents an image-based…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…