Article
Automation & Control Systems
Hanul Jung, Suhui Kwak, Hongsoo Choi, Sehoon Oh
Summary: This brief presents a novel tracking control algorithm for a micro-robot based on dynamics and positional measurements. The algorithm improves the tracking performance and response time by designing a two-degree-of-freedom control and a dual-rate state observer to address the dual-rate problem of micro-robot control systems.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Automation & Control Systems
Kenan Yong, Mou Chen, Yang Shi, Qingxian Wu
Summary: This article investigates the tracking control problem for uncertain nonlinear systems with strong external disturbances and prescribed performance. A flexible performance-based control scheme is proposed, which introduces an external disturbance criterion and synthesizes a disturbance interval observer to ensure the prescribed performance.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Automation & Control Systems
Meiling Zhao, Guohai Liu, Qian Chen, Zhengmeng Liu, Xuhui Zhu, Christopher H. T. Lee
Summary: In this article, an improved sliding-mode observer algorithm with disturbance observer compensation is proposed for medium- and high-speed sensorless control of permanent magnet synchronous motors. The algorithm unifies the mathematical models of surface PMSM and interior PMSM, and uses a bandpass filter to effectively suppress dc bias and high-frequency noise. It also incorporates a disturbance observer with low-pass filter characteristics to compensate for real-time position errors caused by the digital filter. An adaptive extended state observer is added to mitigate the influence of parameter mismatch on the performance and improve estimation accuracy. The feasibility and effectiveness of the proposed observer are verified using a triple redundant permanent magnet-assisted synchronous reluctance motor as an example.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Dasol Cheon, Kanghyun Nam, Sehoon Oh
Summary: This article presents a compact size torque controllable steering wheel module for the steer-by-wire system. The module modularizes the actuator for providing steering feel to the driver with the gear mechanism and the spring. The steering torque sensing mechanism is compactly integrated by placing the spring inside the gear mechanism. The proposed module enhances impedance rendering performance through high gear-ratio transmission and the application of an internal model compensator.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Hongyu Wan, Silu Chen, Chi Zhang, Chin-Yin Chen, Guilin Yang
Summary: This article proposes a novel dual-disturbance observer (DDOB) based on the encoder feedbacks from both the motor and link sides to achieve compliant control of a flexible joint. The DDOB estimates and compensates for friction and external torque separately without the need for a torque sensor. The results of simulations and real-time experiments demonstrate the practical appeal of this method.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Electrical & Electronic
Ting Wu, Mingcheng Lyu, Xuan Wu, Meizhou Yang, Yizhe Wang, Shoudao Huang, Xiaoping Ouyang, Jose Rodriguez
Summary: This article proposes an enhanced model predictive control method for permanent magnet synchronous motors, which addresses the issues of parameter sensitivities and control performance by introducing a reference voltage predictive model and a discrete-time disturbance observer.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS
(2023)
Article
Automation & Control Systems
Chang-E Ren
Summary: This paper discusses a nonlinear uncertain system disturbed by external disturbances, proposing an adaptive disturbance observer and fuzzy controller to handle the uncertainties. The effectiveness of the approach is demonstrated through simulations, showing the system's robustness to disturbances and uncertainties.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2021)
Article
Automation & Control Systems
Kun-Yung Chen
Summary: This study proposes a disturbance observer (DOB) to replace the external disturbance adaptation law in model reference adaptive control (MRAC) for robust tracking control performance in nonlinear servomechanisms. The proposed DOBMRAC demonstrates better tracking control performance than MRAC for SISO and MIMO systems, while also showing good disturbance estimation ability. The methodology can be widely applied to other MRAC systems with unknown time-varying disturbance.
ASIAN JOURNAL OF CONTROL
(2021)
Article
Engineering, Electrical & Electronic
Meiling Zhao, Zhengmeng Liu, Qian Chen, Guohai Liu, Xuhui Zhu, Christopher H. T. Lee
Summary: A new frequency adaptive disturbance observer with band-pass filter characteristics is proposed in this article to improve the estimation accuracy of motor drives. The observer is insensitive to dc bias and high-frequency noise, and it can amplify the amplitude of the estimated active flux, improving the robustness and operating range of the system.
IEEE TRANSACTIONS ON POWER ELECTRONICS
(2023)
Article
Automation & Control Systems
Dong-Hyun Kim, Seibum B. Choi
Summary: In this paper, a more general disturbance observer (DOB) is proposed to address the problem of disturbance deterioration in control engineering. The proposed DOB has broader applicability than existing methods, as it can be applied to systems with time-varying disturbance gain and even highly nonlinear systems. Through verified simulations, the proposed method demonstrates good disturbance estimation performance.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2023)
Article
Engineering, Electrical & Electronic
Zhiyong Yu, Tao Tang, Bo Qi, Ge Ren
Summary: In this paper, an acceleration measurement-based disturbance observer (DOB) control method is proposed to eliminate transient and dramatic dynamic disturbance torque in the flexible belt-drive servo instrumentation. The method incorporates the acceleration difference between the motor side and the load side in a dual-rate control loop. Experimental validation shows that the proposed method effectively suppresses disturbance torque and reduces error spikes and buffeting compared to conventional methods.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Mathematics
Hoang Vu Dao, Manh Hung Nguyen, Kyoung Kwan Ahn
Summary: This paper proposes a nonlinear functional observer (NFO) for the control design of robot manipulators. Compared to the well-known extended state observer (ESO) design, the proposed NFO has a simpler structure, more accurate estimations, and less computational effort, making it easier for practical implementation. Simulations are conducted to verify the effectiveness of the proposed algorithm in terms of both estimation performance and closed-loop control performance.
Article
Automation & Control Systems
Wenwu Zhu, Shihua Li, Haibo Du, Xinghuo Yu
Summary: This article studies the sensorless speed regulation problem for a surface-mount permanent magnet synchronous motor system. A new nonsmooth observer scheme is proposed to estimate the rotor position, speed, and lumped disturbance of the system. Based on the estimated information, a composite speed controller is designed using the nonsmooth control technique in the feedback design and the estimated value of disturbance in the feedforward compensation. Rigorous analysis using Lyapunov theory guarantees the stability of the closed-loop system and shows that the proposed method enhances the disturbance rejection property of the system. Simulation tests and experiment results verify the effectiveness of the proposed method.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
I. Penarrocha-Alos, D. Tena, R. Sanchis
Summary: This paper presents a novel approach for input disturbance estimation design and implementation for dynamical processes under the influence of unknown disturbances with a known frequency. The design and implementation are simple and suitable for the process industry, and can be managed by non-experts in control systems.
JOURNAL OF PROCESS CONTROL
(2023)
Article
Robotics
Chao Ren, Hongjian Jiang, Chaoxu Mu, Shugen Ma
Summary: This letter presents a conditional disturbance negation (CDN) control scheme for an omnidirectional mobile robot based on energy balance. The forces imposed on the robot are analyzed and classified, with the exploitation of the beneficial forces. A judgment function is designed to determine whether the disturbance is beneficial, allowing selective compensation. Convergence of the proposed control system is analyzed. Simulations and experimental results show that the proposed control scheme achieves better performance when disturbances contain beneficial parts.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Yongsu Park, Nicholas Paine, Sehoon Oh
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2018)
Article
Automation & Control Systems
Chan Lee, Jun-Young Kim, Shin-Yoon Kim, Sehoon Oh
Article
Automation & Control Systems
Jung Hyun Choi, Younghun Chun, Sehoon Oh
Article
Computer Science, Artificial Intelligence
Chan Lee, Sehoon Oh
FRONTIERS IN NEUROROBOTICS
(2019)
Article
Computer Science, Information Systems
Jung Hyun Choi, Kangwagye Samuel, Kanghyun Nam, Sehoon Oh
Proceedings Paper
Engineering, Electrical & Electronic
Hanul Jung, Sehoon Oh
2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE)
(2019)
Proceedings Paper
Engineering, Electrical & Electronic
Junghoon Lee, Sehoon Oh
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)
(2019)
Proceedings Paper
Engineering, Electrical & Electronic
Sangjin Bae, Wonbum Yun, Chan Lee, Sehoon Oh
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)
(2019)
Proceedings Paper
Computer Science, Artificial Intelligence
Jung Hyun Choi, Changyong Song, Kyunghwan Kim, Sehoon Oh
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Chan Lee, Sehoon Oh
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Energy & Fuels
Hanul Jung, Chan Lee, Sehoon Oh
2018 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-NIIGATA 2018 -ECCE ASIA)
(2018)
Proceedings Paper
Automation & Control Systems
Chan Lee, Sehoon Oh
2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC)
(2018)
Proceedings Paper
Automation & Control Systems
Hyunwook Lee, Sehoon Oh
2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC)
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Su-Hui Kwak, Yongsu Park, Sehoon Oh
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)
(2017)
Proceedings Paper
Computer Science, Artificial Intelligence
Hyunwook Lee, Sehoon Oh
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)
(2017)