NDLI: Disturbance decomposition of time delay system by shadow robot based on network disturbance concept

Content Provider	IEEE Xplore Digital Library
Author	Rahman, A.A. Natori, K. Ohnishi, K.
Copyright Year	2009
Description	Author affiliation: Keio University, Department of System Design Engineering, Yokohama, Japan (Rahman, A.A.; Natori, K.; Ohnishi, K.)
Abstract	This paper discusses the problem of time delayed control system with communication disturbance observer (CDOB) when the system suffers large external force. This method is based on the concept of network disturbance that consider the effect of time delay as a disturbance in acceleration dimension. CDOB estimate the effect of time delay to the system and using the estimation result compensate it. In practical application, disturbance observer (DOB) is used simultaneously with CDOB to compensate disturbances other than network disturbance, such as external force, friction, gravitation effect, etc. When such disturbance forces are quite large, the accuracy of network disturbance estimation is degraded. A method using shadow system is proposed to decompose the disturbances thus accurate time delay compensation can be achieved.
Starting Page	1
Ending Page	6
File Size	419738
Page Count	6
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939647
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Robots Delay estimation Delay systems Force control Communication system control Control systems Acceleration Friction Degradation
Content Type	Text
Resource Type	Article

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