相关论文: IEEE_TIE25: Analysis and Synthesis of DOb-based Ro…

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 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…

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 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 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 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…

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 proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

This paper presents new results that allow one to address the discrete-time general nonlinear robust control problem. The uncertain system is described by a general nonlinear function set characterized by the nominal model and the…

In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…

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…

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…

In this paper, we address the problem of robust stability for uncertain sampled-data systems controlled by a discrete-time disturbance observer (DT-DOB). Unlike most of previous works that rely on the small-gain theorem, our approach is to…

Most of nonlinear robust control methods just consider the affine nonlinear nominal model. When the nominal model is assumed to be affine nonlinear, available information about existing non-affine nonlinearities is ignored. For non-affine…

This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…

This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…

The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…