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DISTURBANCE OBSERVER BASED POSITION CONTROL OF A ONE-LINK MANIPULATOR UNDER INPUT TIME DELAY

Title
DISTURBANCE OBSERVER BASED POSITION CONTROL OF A ONE-LINK MANIPULATOR UNDER INPUT TIME DELAY
Authors
Son, Young IkJeong, Goo JongKim, In Hyuk
DGIST Authors
Kim, In Hyuk
Issue Date
2012-02
Citation
International Journal of Innovative Computing, Information and Control, 8(2), 1371-1384
Type
Article
Article Type
Article
Keywords
Computer SimulationDelay TimeDirect-CurrentDisturbance ObserverHarmonic Drive GearsLoad MassManipulator SystemsManipulatorsNon-Minimum PhaseNon-Minimum Phase SystemsOne-Link ManipulatorPosition ControlRobust PerformanceSmith PredictorSmith PredictorsSpeed ControlSystem UncertaintiesTime-Delay ControlTime-Varying DisturbanceTime DelayTime Varying Control SystemsTime Varying Signal
ISSN
1349-4198
Abstract
To improve the robust performance against input time delay and time-varying disturbances, a non-minimum phase disturbance observer (DOB) approach is investigated for the position control of a one-link manipulator driven by a direct-current (DC) motor with a harmonic drive gear. The time-delay control problem for a system with an integrator is especially difficult when the disturbance input is a time-varying signal. The effect of the time-varying disturbance owing to the load mass uncertainty has been alleviated using a non-minimum phase DOB together with a Smith predictor (SP). In order to test the performance of the proposed controller, comparative computer simulations and experiments have been carried out with the manipulator system. In the simulations, we have considered the uncertainties for the delay time as well as the load mass of the system. The experimental results confirm the robust performance of the proposed method against system uncertainties. © 2012 ICIC International.
URI
http://hdl.handle.net/20.500.11750/2141
Publisher
Innovative Computing, Information and Control
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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