Research Papers

Disturbance Estimation, Compensation, and Dynamic Shaping: New Approach and an Application to Output Stabilization of Multiple Cooperative Control

[+] Author and Article Information
Sang-Chul Lee

School of Mechatronics,
Gwangju Institute of Science and Technology (GIST),
123 Cheomdan-gwagiro,
Buk-gu, Gwangju 500-712, South Korea
e-mail: sclee@gist.ac.kr

Kyungmin Jeong

Korea Atomic Energy Research Institute
Daedeokdae-ro 989-111,
Yuseong-Gu, Daejeon 305-353, South Korea
e-mail: kmjeong@kaeri.re.kr

Hyo-Sung Ahn

School of Mechatronics,
Gwangju Institute of Science and Technology (GIST),
123 Cheomdan-gwagiro,
Buk-gu, Gwangju 500-712, South Korea
e-mail: hyosung@gist.ac.kr

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 3, 2013; final manuscript received June 1, 2014; published online August 28, 2014. Assoc. Editor: Prashant Mehta.

J. Dyn. Sys., Meas., Control 137(1), 011008 (Aug 28, 2014) (10 pages) Paper No: DS-13-1376; doi: 10.1115/1.4027951 History: Received October 03, 2013; Revised June 01, 2014

This paper introduces a new disturbance estimation scheme, and a possible application to relative output stabilization of multiple systems. Using the proposed disturbance estimation scheme, total unknown external disturbance applied to a plant is estimated and compensated. Moreover, the model difference between an actual system and a desired system is also estimated and compensated. For the purpose of general use of the disturbance estimation scheme as an unknown input observer (UIO), a parameterized design method is given, even for the unstable and nonminimum phase systems. For the relative output stabilization of multiple systems, second-order consensus algorithm is additionally used. A case study, simulations, and experimental tests sequentially validate the proposed estimation and control methods.

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Fig. 1

Multiple link cooperative control

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Fig. 2

A general tracking system

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Fig. 3

The structure of the DE

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Fig. 4

Simplified block diagram for dynamics shaping and disturbance compensation

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Fig. 5

Result of dynamics shaping and total disturbance compensation

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Fig. 6

Multiple systems cooperative control with consensus algorithm

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Fig. 7

Structure of output stabilization systems

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Fig. 8

Overall structure of output stabilization systems

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Fig. 9

Simulation results of disturbance estimation, compensation, and dynamics shaping

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Fig. 10

Simulation results of relative output stabilization using disturbance compensation

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Fig. 11

Experimental setup

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Fig. 12

Experimental test results of multiple link control




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