0
TECHNICAL PAPERS

Time Delay Observer: A Robust Observer for Nonlinear Plants

[+] Author and Article Information
Pyung H. Chang, Jeong W. Lee, Suk H. Park

Department of Mechanical Engineering, Korea Advanced Institute of Science and Tecthnology, 373-1 Kusung-dong, Taejon, Korea

J. Dyn. Sys., Meas., Control 119(3), 521-527 (Sep 01, 1997) (7 pages) doi:10.1115/1.2801288 History: Received February 10, 1995; Online December 03, 2007

Abstract

Motivated by the idea of the time delay estimation used in the Time Delay Control, Time Delay Observer (TDO) has been constructed. Owing to this idea, TDO does not require a model, and hence is easy to design for nonlinear systems in the phase variable form, even when the plant dynamics is not well known. Not including a model, TDO turned out to be robust to parameter variations and computationally efficient; yet achieved better accuracy. For this observer, the convergence property and the sensitivity to sensor noise have been analyzed. Then, in a simulation with a nonlinear plant, and in an experiment with a robot, TDO achieved an accuracy level similar to sliding observer and better than a Kalman filter. In an experiment on a pneumatic cylinder control, TDO reconstructed states much better than a numerical differentiator with low-pass filtering.

Copyright © 1997 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In