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http://dx.doi.org/10.5573/ieie.2016.53.10.123

Analysis of a Time-constant Effect in the Q-filter for Designing a Disturbance Observer: Balancing Control of a Single-wheel Robot  

Lee, Sangdeok (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.53, no.11, 2016 , pp. 123-129 More about this Journal
Abstract
Disturbance Observer(DOB) based control is considered for the purpose of the balancing performance enhancement in a single-wheel robot. Design of DOB can be folded into two parts, the inverse model of the plant and the Q-filter. The inverse model is derived from the inverted stick model and a Q-filter is designed to stabilize the inverse model. In this paper, a Q31 filter is designed and its effect is evaluated by experimental studies. The time constant provides a complimentary characteristic between the disturbance suppression and the sensor noise immunity. Therefore, suitable selection of the time-constant must be considered. Comparative experiments are conducted to investigate the control performances when three different Q filters are respectively applied in the DOB. Through the analysis of the experimental results, a time constant is designed to have a proper value in the design of DOB for balancing control of a single-wheel robot.
Keywords
Disturbance observer; Q-filter design; single-wheel robot; time-constant;
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Times Cited By KSCI : 3  (Citation Analysis)
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