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TECHNICAL PAPERS

Disturbance Observer Based Tracking Control

[+] Author and Article Information
Chia-Shang Liu, Huei Peng

Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109-2121

J. Dyn. Sys., Meas., Control 122(2), 332-335 (May 15, 1997) (4 pages) doi:10.1115/1.482459 History: Received May 15, 1997
Copyright © 2000 by ASME
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References

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Dote, Y. et al., 1990, “Disturbance Observer-Based Robust and Fast Speed Controller For Induction Motors,” Proc. of 1990 IEEE Industry Applications Society Annual Meeting, pp. 653–662.
Bickel, R., and Tomizuka, M., 1995, “Disturbance Observer Based, Hybrid Impedance Control,” Proceedings of the 1995 American Control Conference, pp. 729–733.
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Choi, Y., Chung, W., and Youm, Y., 1996, “Disturbance Observer in H Frameworks,” Proc. of IEEE IECON Conference, pp. 1394–1400.
Narendra, K. S., and Annaswamy, A. M., 1989, Stable Adaptive Systems, Prentice-Hall, New York.
Popov, V. M., 1973, Hyperstability of Control Systems, Springer-Verlag, New York.

Figures

Grahic Jump Location
Schematic diagram of the disturbance estimation algorithm
Grahic Jump Location
Simulation results for the adaptive control
Grahic Jump Location
Simulation results for the sliding mode control
Grahic Jump Location
Tracking errors for disturbance observer based (DOB) and sliding mode control (SMC)
Grahic Jump Location
Tracking error plots for disturbance observer based (DOB) control

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