On the Relation between PI Observer and Disturbance Observer
نویسندگان
چکیده
منابع مشابه
Passivity Based versus Disturbance Observer
Disturbance Observer based robot control algorithms provide good performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well known passivity based approaches of Sadegh ...
متن کاملImproving the Multivariable Control of the OreGrinding System using Disturbance Observer Mechanism and the PI Controller
Ore grinding system is a multivariable mechanism which is used in mining industry, metallurgy, cement production, chemicals, pharmaceuticals, ceramics and various research laboratories. Previous control methods of this system include open multi-loop PID controller, Model Predictive Control (MPC), adaptive control and robust control. The mentioned techniques do not show proper performance, when ...
متن کاملVoltage Control and Load Sharing in a DC Islanded Microgrid Based on Disturbance Observer
Increasing DC loads along with DC nature of distributed energy resources (DERs) raises interest to DC microgrids. Conventional droop/non-droop power-sharing in microgrids suffers from load dependent voltage deviation, slow transient response, and requires the parameters of the loads, system and DERs connection status. In this paper, a new nonlinear decentralized back-stepping control strategy f...
متن کاملIntegral Action - a Disturbance Observer Approach
Integral action is required in many controllers in order to solve real world problems. Modeling errors and disturbances are examples of issues that can be dealt with by using controllers with integral action. This paper explores the use of disturbance observers to introduce integral action into an output feedback controller. In particular, the proposed solution is generalized to include the cas...
متن کاملA nonlinear disturbance observer for robotic manipulators
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed b...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 1994
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss1987.114.12_1326