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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Junmin Park Daesung Jung Wookyong Kwon Soohee Han Sangchul Won |
| Copyright Year | 2015 |
| Description | Author affiliation: Dept. of Creative IT Eng., POSTECH, Pohang, South Korea (Soohee Han) || Grad. Inst. of Ferrous Technol., POSTECH, Pohang, South Korea (Wookyong Kwon) || Dept. of Electron. & Electr. Eng., POSTECH, Pohang, South Korea (Junmin Park; Sangchul Won) || Samsung Electron., Suwon, South Korea (Daesung Jung) |
| Abstract | This paper proposes a periodic adaptive state dependent disturbance observer (PASDDOB) for motor control with the unknown input time delay, known output time delay and unknown phase delay from Q-filter to compensate the state dependent disturbance (SDD) that changes slowly by time. The PASDDOB has a structure that combines the state dependent disturbance observer (SDDOB) with the periodic adaptive learning compensation (PALC). The SDDOB compensates the known output delay and the unknown phase delay from Q-filter. The PALC compensates the unknown input time delay and the time-varying SDD. Therefore, the PASDDOB can compensate the SDD. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulation results. |
| Starting Page | 1474 |
| Ending Page | 1479 |
| File Size | 1064617 |
| Page Count | 6 |
| File Format | |
| ISSN | 20937121 |
| e-ISBN | 9788993215083 |
| DOI | 10.1109/ICCAS.2015.7364585 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-13 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Control, Robotics and Systems - ICROS |
| Subject Keyword | Legged locomotion linear disturbance observer state dependent disturbance observer time delay Delays State dependent disturbances periodic adaptive disturbance observer motor speed ripple |
| Content Type | Text |
| Resource Type | Article |
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