• Journal of IKEEE
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• v.15 no.2
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• pp.149-156
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• 2011

In this paper, a new discrete variable structure controller based on a new sliding surface and discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed sliding surface. The discrete version of the disturbance observer is derived for the effective compensation of the effect of uncertainties and disturbances. A corresponding control input with the disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined sliding surface for guaranteeing the designed output in the sliding surface from any initial condition to the origin for all the parameter variations and disturbances. By using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.4
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• pp.124-134
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• 2011

A new dead time compensation scheme that can exactly estimate the dead time and inverter nonlinearity under parameter variations is proposed for a PWM inverter-fed PMSM drive. The proposed scheme uses the fact that the sixth harmonic component in total disturbance estimated under the presence of various uncertainties is mainly caused by the dead time and inverter nonlinearity. The total disturbance due to the parameter variations as well as the dead time and inverter nonlinearity is estimated by the adaptive scheme. The sixth harmonic component is extracted from this total disturbance through harmonic analysis. The obtained sixth harmonic is processed by the PI controller to estimate the disturbance caused by the dead time and inverter nonlinearity in the stationary reference frame. The effectiveness of the proposed scheme is verified. Without requiring an additional hardware, the proposed scheme can effectively compensate the dead time and inverter nonlinearity even under the parameter variations.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.319-323
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• 2002

In this paper, we consider the track-following control problem in the optical data storage systems in the presence of the eccentricity. The eccentricity results in the radial deviation of the objective lens so that it degrades the reliability of the data decoding system. To cope with the eccentricity, an adaptive disturbance compensation technique is newly proposed in the time domain based on a disturbance observer of reduced order, which effectively estimates the low frequency components of the disturbance. The proposed compensator is simply added to the conventional feedback control. The error dynamics of the observer and the sensitivity analysis are given to illustrate the effectiveness of the proposed approach. Finally, through experiments in an optical storage system, the feasibility of the proposed approach is verified.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.343-348
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• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.1
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• pp.29-37
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• 2012

A simple and effective dead time compensation scheme for a PWM inverter-fed permanent magnet synchronous motor (PMSM) drive using the model reference adaptive control (MRAC) and coordinate transformation is presented. The basic concept is to first transform a time-varying disturbance caused by the dead time and inverter nonlinearity into unknown constant or slowly-varying one by the coordinate transformation, and then use the MRAC design technique to estimate this parameter in the stationary reference frame. Since the MRAC scheme is a suitable way of estimating such a parameter, the control performance can be significantly improved as compared with the conventional observer-based method tracking time-varying parameters. In the proposed scheme, the disturbance voltage caused by the dead time is effectively estimated and compensated by on-line basis without any additional circuits nor existing disadvantages as in the conventional methods. The asymptotic stability is proved and the effectiveness of the proposed scheme is verified.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.252-260
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• 1997

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.2
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• pp.83-91
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• 2004

This paper illustrates the feasibility and the effectiveness of the disturbance feedforward compensation control proposed in the previous paper. The compensator is designed experimentally by means of the Multiple Filtered-x Least Mean Square algorithm. A 2-DOF active magnetic bearing system subject to base motion is built and the compensation control is applied. The experimental results demonstrate that the compensation control reduces the air-gap responses within 10$%$ of those by the feedback control alone without increasing the control inputs.

• Bulletin of the Korean Space Science Society
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• 2005.04a
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• pp.138-142
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• 2005

A reaction wheel, an actuator for satellite attitude control, produces disturbance torque and force as well as its axial control torque. The disturbances have an influence on the pointing stability of high precision satellites. The measurement of disturbances for such a satellite, therefore, is necessary. The wheel's rotation, however, causes the vibration of the table and its vibration induces measurement errors, especially large near the resonance frequency of the Measurement table. For the purpose of overcoming these defects, a calibration method using frequency compensation is suggested in this paper. Disturbance parameters are identified from data examined by frequency compensation. Measurement frequency range can be expanded far higher than the resonance frequency, since the degradation of data accuracy caused by its vibration is well alleviated even in the resonance area.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1796-1799
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• 1997

This thersis presents precise position control emthods of a 3-PRPS in-parallel manipulator for industrial applications such as assembly of highly integrated semiconductors and microsurgery. Since real-time ontrol is one of the most important issues required for industrial application, the experimental hardware is set up with a VME based DSP controller. In the 3-PRPS parallel mainpulator, structurally existing frictiion at three horizontal links considerably degrades the precise position control. In order to compensate the friction of the horizontal links in the joint space, a disturbance compensation usign disturbance and velocity observers has been proposed and investigated. We analyzed the decision method of eigenvalues of the disturbance observer and the effects of the control resulted form tehsystem model errors. Through a series of simulations and experiments, we see that the methods is capable of compensating variations of the robot parameters such as inertia and damping as well as the joint friction. Experiments show that the disturbance compensation method usign disturbance and velocity observer is very effective to compensate the friction. Compared with conventional PID position control, it decreased position errors ina circular motion by approximately 70%.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.6
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• pp.55-61
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• 2014

This paper related with the ECMA (Enchanced CMA) algorithm performance which is possible to simultaneously compensation of the amplitude and phase by appling the minimum disturbance techniques in the CMA adatpve equalizer. The ECMA can improving the gradient noise amplification problem, stability and roburstness performance by the minimum disturbance technique that is the minimization of the equalizer tap weight variation in the point of squared euclidiean norm and the decision directed mode, and then the now cost function were proposed in order to simultaneouly compensation of amplitude and phase of the received signal with the minimum increment of computational operations. The performance of ECMA algorithm was compared to present MCMA by the computer simulation. For proving the performance, the recovered signal constellation that is the output of equalizer output signal and the residual isi and Maximum Distortion charateristic and MSE learning curve that are presents the convergence performance in the equalizer and the overall frequency transfer function of channel and equalizer were used. As a result of computer simulation, the ECMA has more better compensation capability of amplitude and phase in the recovered constellation, and the convergence time of adaptive equalization has improved compared to the MCMA.