This paper introduces a new disturbance estimation scheme, and a possible application to relative output stabilization of multiple systems. Using the proposed disturbance estimation scheme, total unknown external disturbance applied to a plant is estimated and compensated. Moreover, the model difference between an actual system and a desired system is also estimated and compensated. For the purpose of general use of the disturbance estimation scheme as an unknown input observer (UIO), a parameterized design method is given, even for the unstable and nonminimum phase systems. For the relative output stabilization of multiple systems, second-order consensus algorithm is additionally used. A case study, simulations, and experimental tests sequentially validate the proposed estimation and control methods.
Issue Section:
Research Papers
References
1.
Zhongyi
, C.
, Fuchun
, S.
, and Jing
, C.
, 2008
, “Disturbance Observer-Based Robust Control of Free-Floating Space Manipulators
,” IEEE Syst. J.
, 2
(1
), pp. 114
–119
.10.1109/JSYST.2007.9148712.
Dong
, W.
, and Kuhnert
, K. D.
, 2005
, “Robust Adaptive Control of Nonholonomic Mobile Robot With Parameter and Nonparameter Uncertainties
,” IEEE Trans. Rob.
, 21
(2
), pp. 261
–266
.10.1109/TRO.2004.8372363.
Lai
, C. Y.
, Lewis
, F. L.
, Venkataramanan
, V.
, Ren
, X.
, Ge
, S. S.
, and Liew
, T.
, 2010
, “Disturbance and Friction Compensations in Hard Disk Drives Using Neural Networks
,” IEEE Trans. Ind. Electron.
, 57
(2
), pp. 784
–792
.10.1109/TIE.2009.20272574.
Lee
, M.-N.
, and Jin
, K. B.
, 2005
, “An Optimal Tracking Controller Design Based on the Estimation of Tracking Vibration Quantity
,” IEEE Trans. Consum. Electron.
, 51
(2
), pp. 478
–484
.10.1109/TCE.2005.14679905.
Diolaiti
, N.
, Niemeyer
, G.
, Barbagli
, F.
, and Salisbury
, J. K.
, 2006
, “Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects
,” IEEE Trans. Rob.
, 22
(2
), pp. 256
–268
.10.1109/TRO.2005.8624876.
Zemiti
, N.
, Morel
, G.
, Ortmaier
, T.
, and Bonnet
, N.
, 2007
, “Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery
,” IEEE/ASME Trans. Mechatron.
, 12
(2
), pp. 143
–153
.10.1109/TMECH.2007.8928317.
Luo
, Y.
, and Chen
, Y.
, 2012
, Fractional Order Disturbance Observer, in Fractional Order Motion Controls
, Wiley
, Chichester, UK
, pp. 223
–236
.8.
Jia
, Q. W.
, 2009
, “Disturbance Rejection Through Disturbance Observer With Adaptive Frequency Estimation
,” IEEE Trans. Magn.
, 45
(6
), pp. 2675
–2678
.10.1109/TMAG.2009.20243119.
Katsura
, S.
, Matsumoto
, Y.
, and Ohnishi
, K.
, 2007
, “Modeling of Force Sensing and Validation of Disturbance Observer for Force Control
,” IEEE Trans. Ind. Electron.
, 54
(1
), pp. 530
–538
.10.1109/TIE.2006.88545910.
Ahn
, H.-S.
, and Chen
, Y.
, 2009
, “State-Dependent Friction Force Compensation Using Periodic Adaptive Learning Control
,” Mechatronics
, 19
(6
), pp. 896
–904
.10.1016/j.mechatronics.2009.05.00711.
Nicosia
, S.
, and Tomei
, P.
, 1990
, “Robot Control by Using Only Joint Position Measurements
,” IEEE Trans. Autom. Control
, 35
(9
), pp. 1058
–1061
.10.1109/9.5853712.
Nicosia
, S.
, Tomei
, P.
, and Tornambé
, A.
, 1988
, “A Nonlinear Observer for Elastic Robots
,” IEEE J. Rob. Autom.
, 4
(1
), pp. 45
–52
.10.1109/56.77013.
Liu
, C.-S.
, and Peng
, H.
, 2002
, “Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems
,” ASME J. Dyn. Syst., Meas., Control
, 124
(3
), pp. 375
–381
.10.1115/1.148574814.
Schrijver
, E.
, and Van Dijk
, J.
, 2002
, “Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design
,” ASME J. Dyn. Syst., Meas., Control
, 124
(4
), pp. 539
–548
.10.1115/1.151357015.
Ren
, W.
, 2008
, “On Consensus Algorithms for Double-Integrator Dynamics
,” IEEE Trans. Autom. Control
, 53
(6
), pp. 1503
–1509
.10.1109/TAC.2008.92496116.
Yucelen
, T.
, and Johnson
, E. N.
, 2013
, “Control of Multivehicle Systems in the Presence of Uncertain Dynamics
,” Int. J. Control
, 86
(9
), pp. 1540
–1553
.10.1080/00207179.2013.79007717.
Ren
, W.
, Beard
, R. W.
, and Atkins
, E. M.
, 2005
, “A Survey of Consensus Problems in Multi-Agent Coordination
,” American Control Conference
, IEEE, Portland, OR, June 8–10, pp. 1859
–1864
.18.
Goodwin
, G. C.
, Graebe
, S. F.
, and Salgado
, M. E.
, 2001
, Control System Design
, Prentice Hall
, Upper Saddle River
, NJ
, Vol. 240
.19.
Staffans
, O. J.
, Staffans
, O. J.
, Staffans
, O. J.
, and Staffans
, O. J.
, 2005
, Well-Posed Linear Systems
, Cambridge University
, Cambridge
, UK, Vol. 103
.20.
Olfati-Saber
, R.
, Fax
, J. A.
, and Murray
, R. M.
, 2007
, “Consensus and Cooperation in Networked Multi-Agent Systems
,” Proc. IEEE
, 95
(1
), pp. 215
–233
.10.1109/JPROC.2006.887293Copyright © 2015 by ASME
You do not currently have access to this content.
