IEEE Organizations related to Disturbance Observers

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Conferences related to Disturbance Observers

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2021 IEEE International Conference on Mechatronics (ICM)

CM focuses on recent developments and future prospects related to the synergetic integration of mechanics, electronics, and information processing.


2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

AMC2020 is the 16th in a series of biennial international workshops on Advanced Motion Control which aims to bring together researchers from both academia and industry and to promote omnipresent motion control technologies and applications.


2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA)

Artificial Intelligence, Control and Systems, Cyber-physical Systems, Energy and Environment, Industrial Informatics and Computational Intelligence, Robotics, Network and Communication Technologies, Power Electronics, Signal and Information Processing


2019 Chinese Control And Decision Conference (CCDC)

Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2018 Chinese Control And Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2017 29th Chinese Control And Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2016 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create aforum for scientists, engineers and practitioners throughout the world to present the latestadvancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2015 27th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2014 26th Chinese Control And Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create aforum for scientists, engineers and practitioners throughout the world to present the latestadvancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2013 25th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2012 24th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2011 23rd Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2010 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies

  • 2009 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2008 Chinese Control and Decision Conference (CCDC)


2019 IEEE Canadian Conference of Electrical and Computer Engineering (CCECE)

Electrical Engineering, Academic and Industrial


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Periodicals related to Disturbance Observers

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Most published Xplore authors for Disturbance Observers

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Xplore Articles related to Disturbance Observers

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Comparison of Different Time Delay Compensation Methods for Networked DC Motor Speed Control

2019 6th International Conference on Electrical and Electronics Engineering (ICEEE), 2019

In this paper, different time delay compensation methods are applied to networked DC motor speed control such as Smith predictor, communication disturbance observer (CDOB), double disturbance observer (DDOB). The PI speed control system structures augmented with these methods are introduced. The reference tracking and external disturbance rejection performance of these methods are evaluated by simulations and experiments. The integral absolute ...


A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing Control of a Single-wheel Robot

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018

Stabilization of the inverse model of the target system is a critical problem in a current disturbance observer (DOB) based control scheme. When the system is identified as a second order system by the recursive least square (RLS) algorithm, the minimum phase (MP) of the model is not guaranteed. This paper addresses a guaranteed minimum phase method of the identified ...


State feedback control with disturbance estimation and compensation for discrete-time linear systems

2017 11th Asian Control Conference (ASCC), 2017

Constructive methods are developed to design disturbance compensation controllers for stabilization of discrete-time linear systems. State feedback controllers are addressed with compensation of rate-bounded disturbances based on disturbance observer. Sufficient conditions for designing feedback laws are derived in terms of linear matrix inequalities (LMIs). Numerical examples are given to show the effectiveness of the proposed methods.


Robust tracking control for a quadrotor UAV via DOBC approach

2018 Chinese Control And Decision Conference (CCDC), 2018

The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two sub-systems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control ...


Design of disturbance observer using composite filter in two-dimensional shaking table systems

2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018

This paper presents a design approach of disturbance observer using the composite filter in the two-dimensional shaking table systems. The target two- dimensional shaking table system has the excitation mechanism to shake the target structure on the horizontal plane, where the external disturbances act on the actuator control system during excitation. In order to perform the accurate shaking tests, the ...


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Educational Resources on Disturbance Observers

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IEEE-USA E-Books

  • Comparison of Different Time Delay Compensation Methods for Networked DC Motor Speed Control

    In this paper, different time delay compensation methods are applied to networked DC motor speed control such as Smith predictor, communication disturbance observer (CDOB), double disturbance observer (DDOB). The PI speed control system structures augmented with these methods are introduced. The reference tracking and external disturbance rejection performance of these methods are evaluated by simulations and experiments. The integral absolute error (IAE) criterion is used to assess performance numerically. Simulation and experimental results prove the effectiveness of DDOB over the other methods.

  • A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing Control of a Single-wheel Robot

    Stabilization of the inverse model of the target system is a critical problem in a current disturbance observer (DOB) based control scheme. When the system is identified as a second order system by the recursive least square (RLS) algorithm, the minimum phase (MP) of the model is not guaranteed. This paper addresses a guaranteed minimum phase method of the identified second order model. Jury's test is conducted to check the stability. All-Pass-Filtering (APF) process are conducted for updating prior parameters of RLS to satisfy the minimum phase criteria. To verify the proposal, a single-wheel robot is identified as a second order model by the RLS method with guaranteed stability. Disturbance observer is designed based on the model. Balancing control experiments of a single-wheel robot are conducted.

  • State feedback control with disturbance estimation and compensation for discrete-time linear systems

    Constructive methods are developed to design disturbance compensation controllers for stabilization of discrete-time linear systems. State feedback controllers are addressed with compensation of rate-bounded disturbances based on disturbance observer. Sufficient conditions for designing feedback laws are derived in terms of linear matrix inequalities (LMIs). Numerical examples are given to show the effectiveness of the proposed methods.

  • Robust tracking control for a quadrotor UAV via DOBC approach

    The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two sub-systems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞control. Finally, the simulation results show the effectiveness of the proposed method.

  • Design of disturbance observer using composite filter in two-dimensional shaking table systems

    This paper presents a design approach of disturbance observer using the composite filter in the two-dimensional shaking table systems. The target two- dimensional shaking table system has the excitation mechanism to shake the target structure on the horizontal plane, where the external disturbances act on the actuator control system during excitation. In order to perform the accurate shaking tests, the disturbance observer is designed to improve the disturbance suppression characteristic of the actuator control system. The verocity signal is used as the input signal of the disturbance observer, where high-quality velocity signal of the actuator can be generated through the composite filter based on the acceleration and displacement signals. By using the velocity signal, the performance of disturbance compensation can be improved in the feedback control system. The effectiveness of the designed control system is verified by conducting experiments using the laboratory prototype of horizontal shaking table systems.

  • An Improved Speed and Position Estimator for Transient Performance of Back-Emf Self-Sensing for IPMSM

    This paper proposes an improved PLL-type estimator for self-sensing control based on back-electromotive force (back-EMF)estimation in an interior permanent magnet synchronous motor (IPMSM). Although the position and speed of rotor are accurately estimated by PLL-type estimator in steady state, the estimated information in transient state may be unstable. To analyze the transient performance of rotor position estimators, the structure design and proposed methods of estimator are introduced. And, the effect of proposed method has been figured out that the estimated speed error and torque ripple are decreased in transient state. The feasibility of the introduced estimator effect are verified through simulation results.

  • Study of Light Beam Tracking based on Compound Axis Control

    Compound axis control technology has the advantage of high-precision dynamic tracking, and is widely used in high-precision electro-optical tracking system, laser communication and other fields. For the applications of airborne and shipboard platforms, the compound axis control system will be seriously affected by the disturbance torque. In order to overcome the influence of the disturbance torque, this paper applies the disturbance observer to the compound axis control to improve the precision of the compound axis control system. The simulation and analysis of the improved compound axis control system prove the effectiveness of the method.

  • Position and Attitude Control Method Using Disturbance Observer for Station Keeping in Underwater Vehicle

    This paper proposes the position and attitude control method using a disturbance observer for an underwater vehicle. When the underwater vehicle such as a remotely operated vehicle (ROV) and an autonomous underwater vehicle (AUV) moves, the position and attitude control of the underwater vehicle is important. In this situation, the underwater vehicle is affected by disturbances such as ocean current and tidal current. These disturbances have the bad influence to the position and attitude control of the underwater vehicle. In addition, the dynamic model of the underwater vehicle has the modeling error, since this shape is not simple. This modeling error also degrades the tracking performance. This paper proposes the robust position and attitude control system against disturbances and the modeling error for the station keeping in the underwater vehicle. In order to compensate for disturbances, the disturbance observer is implemented as the proposed method. The advantages of the disturbance observer is high robustness against these disturbances. It is possible to compensate not only disturbances but also modeling error by using the disturbance observer. The validity of the proposed method was confirmed from the simulation results.

  • Finite time control for generic hypersonic vehicle

    A nonlinear finite time sliding mode control (FTSMC) for generic hypersonic vehicle (GHV) is proposed in this paper. Firstly, a control-oriented model of GHV is introduced for sake of simplicity. Secondly, Finite time controllers for velocity and altitude subsystems are designed independently by sliding mode theory to achieve tracking of velocity and altitude trajectories. Total disturbances including parametric perturbations, nonlinear dynamics and external disturbances in GHV model are estimated by utilizing finite time disturbance observer (FTDO) method. Chattering problem in sliding mode is settled by using a smooth approximate function. Finally, numerical simulations are provided to show that the proposed composite control scheme allows an excellent tracking performance.

  • Heading Control of an Autonomous Surface Vehicle Using Finite-Time Approach

    In this paper, an integral sliding mode control scheme is proposed for the heading control of an autonomous surface vehicle. Main contributions are as follows: 1) The proposed control scheme can not only make the vehicle converge to the desired heading but also guarantee finite-time convergence pertaining to the closed-loop system; 2) External disturbances can be accurately compensated by using the proposed disturbance observer, which leads to strong robustness; 3) By virtue of the proposed control scheme, fast and accurate heading control performance can be achieved. Simulation results are conducted to demonstrate the feasibility and remarkable performance of the proposed control scheme.



Standards related to Disturbance Observers

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Jobs related to Disturbance Observers

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