• 한국항공운항학회지
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• 제26권2호
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• pp.61-67
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• 2018

This paper presents a method to apply disturbance observer to PID controller for robustness enhancement of UAVs. The system uncertainties and disturbances bring adverse effects on performance and stability of UAVs. In this paper, we estimate the acceleration disturbances using nonlinear disturbance observer, then compensate disturbances with composite controller. By employing nonlinear disturbance observer and composite controller, we have better performance and robustness than conventional PID controller. The asymptotical stability of nonlinear disturbance observer is presented through theoretical analysis. The estimation performance of nonlinear disturbance observer is evaluated by numerical simulation. And performance of disturbance observer based PID controller is evaluated by comparing the performance with conventional PID controller.

• 제어로봇시스템학회논문지
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• 제9권4호
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• pp.270-276
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• 2003

The disturbance observer (DOB) has been widely utilized fer high precision and high speed motion control application. However, it still lacks the analysis for the robustness brought by using DOB. This paper summarizes six guidelines for the design of DOB taking into account the robustness and control performance in case of the second order system. For effectiveness of the proposed guideline, the actual implementation and experimental results of the DOB is compared in the Optical Disk Drive(ODD) servo system. In the DVD player and DVD-ROM drive, the guidelines of DOB are useful, and the disturbance rejection performance is improved under the DOB system.

• International Journal of Control, Automation, and Systems
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• 제3권spc2호
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• pp.288-295
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• 2005

In this paper a new adaptive, decentralized excitation control scheme proposed to enhance the transient stability of multimachine power systems is extensively analyzed with respect to its robustness and disturbance attenuation. As shown in the paper, both robustness and disturbance attenuation can be effectively improved by suitably selecting the design parameters of the proposed controller. Particularly, some simple rules for the selection of the control gains and the adaptation parameters are extracted which, as it is proven, may be essential for the system performance. Simulation tests on a two generator infinite bus power system absolutely confirm the theoretical results.

• 전기학회논문지
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• 제66권1호
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• pp.66-71
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• 2017

In this paper, we study the robustness of disturbance observer based controller for DC motor in the presence of unmodeled dynamics. It is well known that the robustness property usually becomes weaker as the control gain becomes larger. On the contrary to this expectation, it is shown that the phase margin of DOB controller remains quite a large value even though the time constant of Q-filter becomes smaller. The computer simulation results show that DOB controller is able to stabilize the motor system even in the presence of unmodeled dynamics. On the contrary, the unity-feedback system fails to maintain stability when a high gain feedback is employed for the purpose of achieving better disturbance attenuation performance.

• 제어로봇시스템학회논문지
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• 제8권8호
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• pp.655-664
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• 2002

The disturbance observer (DOB) has been widely utilized for high precision/speed motion control applications. However, it still lacks the analysis for the robustness and performance brought by using DOB. This paper proposes the robustness measure of DOB and reveals the relationships between the disturbance rejection performance and the order/time constant of a Q filter in DOB. Additionally, we propose six guidelines for the design of Q filter and show their validity through the experiments for DVD systems.

• 한국인터넷방송통신학회논문지
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• 제16권3호
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• pp.81-87
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• 2016

본 논문에서는 기존 MMA 적응 등화 알고리즘의 안정성과 낮은 신호대 잡음비에서 robustness를 개선하기 위해 adaptive modulus와 miniumum-disturbance 기법을 적용한 AM-SCS-MMA (Adaptive Modulus-Soft Constraint Satisfaction-MMA) 알고리즘의 성능을 해석하였다. AM-SCS-MMA는 적응 등화를 비용 함수를 최소화하기 위해 adaptive modulus와 기존의 LMS 나 gradient descent algorithm 대신 deterministic optimization problem의 minimum-disturbance 기법을 적용하여 탭 계수를 갱신하므로서 채널에서 발생되는 진폭과 위상 찌그러짐에 의한 부호간 간섭을 동시에 줄이면서 등화 필터의 안정성 및 다양한 잡음에 대한 roburstness를 개선시킬 수 있다. 이의 개선 성능을 확인하기 위해 시뮬레이션을 수행하였으며 등화기 출력 성상도, 잔류 isi, MSE와 채널 추적 능력을 나타내는 EMSE (Excess MSE) 및 SER을 적용하였다. 컴퓨터 시뮬레이션의 결과 AM-SCS-MMA는 MMA보다 잔류 isi와 MSE에서는 수렴 속도는 늦지만 정상 상태 이후 잔여량이 감소되고 열악한 신호대 잡음비에서 robustness가 있었지만, 채널 추적 능력에서는 열화됨을 확인하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권6호
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• pp.408-414
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• 2004

In this paper, a disturbance observer based sliding mode control is proposed to attenuate disturbance responses in an active magnetic bearing system, which is subject to base motion. An algorithm which decouples disturbance observation dynamics from sliding mode dynamics is suggested. This algorithm preserves the robustness of the sliding mode control and satisfies reachability condition in the presence of external disturbance and parameter uncertainties. Along with experimental results, it is shown that the proposed control is effective in disturbance rejection without any additive disturbance measurement.

• 한국군사과학기술학회지
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• 제11권2호
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• pp.125-135
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• 2008

Backlash in the actuator is one of the most important nonlinearities that limit the performance of speed and position control of mechanical systems. In this paper, we propose disturbance observers in order to estimate the effect of nonlinearities and cancel them subsequently. As a result the disturbance observers make the nonlinear system behave linearly. And finally we show that the disturbance observers guarantee the system robustness and the performance to reject the effect of backlash in the face of parameter uncertainties.

• 한국정밀공학회지
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• 제19권1호
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• pp.165-171
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• 2002

The conventional sliding mode control(SMC) technique requires a priori knowledge of the upperbounds of disturbances or/and modeling uncertainties to assure robustness. This, however, may not to be easy to obtain in practical situation. This paper presents a new methodology, sliding mode control with disturbance estimator(SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system is adopted as an illustrative example, and a comparative work between the conventional technique and the present one is undertaken.

• 대한조선학회논문집
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• 제61권4호
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• pp.216-225
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• 2024

The sliding mode controller has characteristics that ensure stability and robustness against system uncertainty and disturbance. However, chattering occurs in the control inputs to compensate for system uncertainties and ensure that the system operates efficiently on the sliding surface. When the disturbance is large, using a sliding mode controller requires a large control gain value, which also increases chattering and reduces performance. Therefore, in this study, a nonlinear disturbance observer was used to compensate for external disturbances such as currents and waves and uncertainty in the control system for autonomous underwater vehicles. Accordingly, a robust controller can be implemented while reducing the control gain. The disturbance observer serves to ensure that the behavior of the actual system is closer to the nominal model by compensating for uncertainties between the actual system model and the nominal model during the control process. Therefore, the simulation results show that the performance and robustness of the autonomous underwater vehicle controller are improved by introducing a disturbance observer.