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Effect of Measurement Noise in Disturbance Observer Based Control Systems with Two Saturation Constraints

Title
Effect of Measurement Noise in Disturbance Observer Based Control Systems with Two Saturation Constraints
Authors
Cheon, SeyeongNa, GyujinEun, Yongsoon
DGIST Authors
Eun, Yongsoon
Issue Date
2020-10-14
Citation
20th International Conference on Control, Automation and Systems, ICCAS 2020, 244-250
Type
Conference
ISBN
9788993215205
ISSN
1598-7833
Abstract
Disturbance Observer (DOB) is a well known tool for control systems capable of compensating model un-certainty and rejecting exogenous disturbances. It has been reported previously that zero mean measurement noise may induce tracking error in DOB based control systems with a saturation nonlinearity due to saturating actuators. In this work, DOB based control systems with two saturation constraints are considered and the effect of measurement noise is investigated. Such system architecture arises from Robust Transient DOB (RTDOB) which intentionally bounds amplitude of disturbance compensation in order to avoid peaking phenomenon that can possibly worsen transient response of the closed loop system. Systems using RTDOB have two saturation constraints, one that naturally arises from saturating actuator, and the other artificially inserted to limit the amplitude of disturbance compensation. We show that zero mean measurement noise may induce tracking error in RTDOB based systems as well, analyze the amplitude of the error with systems parameters, and discuss its severity compared to that of a regular DOB based system. The accuracy of proposed analysis is demonstrated through simulations. © 2020 Institute of Control, Robotics, and Systems - ICROS.
URI
http://hdl.handle.net/20.500.11750/12900
DOI
10.23919/ICCAS50221.2020.9268273
Publisher
IEEE Computer Society
Related Researcher
  • Author Eun, Yongsoon DSC Lab(Dynamic Systems and Control Laboratory)
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
Files:
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Collection:
Department of Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)2. Conference Papers


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