:: ICCAS 2015 ::

WB02		[OS] Recent Advances of Disturbance Observer and Applications to Motion Control
Time : 13:30~15:00 Room : 102		Chair : Hyo-Sung Ahn (GIST, )



13:30~13:45	WB02-1

Add-on Controller Design Based on Disturbance Observer in H-infinity Framework
Hyung-Tae Seo, Kyung-Soo Kim, Soohyun Kim(KAIST, Korea, Republic of )

In the paper, an add-on controller design based on disturbance observer for a class of single-input single-output(SISO) linear systems is proposed in H-infinity framework. Motivated by the previous research of reinterpretation of disturbance observer as an add-on controller, the disturbance observer is designed to minimize reference tracking error by minimizing disturbance estimation error. Since the disturbance estimation error may amplify reference tracking error, the design methodology for an add-on controller considers a primary feedback controller.



13:45~14:00	WB02-2

Nonlinear robust control of a quadrotor for point tracking based on nonlinear disturbance observer
Youngcheol Choi, Hyo-Sung Ahn(GIST, Korea, Republic of )

The nonlinear robust controller is designed based on nonlinear disturbance observer which estimates external disturbances of quadrotor. Proposed controller can be divided into two parts which are nonlinear controller and robust controller. Basically, the nonlinear controller is designed to track the desired point and the robust controller is added to compensate external disturbances which estimated by the designed nonlinear disturbance observer. Simulation results show the performance of the designed nonlinear robust controller and disturbance observer.



14:00~14:15	WB02-3

Robust Stabilization of Constrained Uncertain Linear Systems using Feedforward Control based on High-gain Disturbance Observer
Mun Chae Yoon(korea Univ., Korea, Republic of ), Jung-Su Kim(SeoulTech, Korea, Republic of ), Juhoon Back(Kwangwoon University, Korea, Republic of )

This paper proposes a robust stabilizing control for constrained uncertain linear systems by combining a disturbance observer (DOB) and state feedback controller. To this end, a state feedback controller is designed for the nominal system and then a disturbance observer based feedforward control is added in order to reject uncertainties. In doing so, the DOB and state feedback controller are united in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed.



14:15~14:30	WB02-4

A general framework for robust stability analysis of discrete-time disturbance observer for sampled-data systems: A fast sampling approach
Gyunghoon Park, Hyungbo Shim(Seoul National University, Korea, Republic of )

As a robust controller to compensate both model uncertainty and external disturbances, the disturbance observer (DOB) has been widely employed in a number of industrial applications, typically implemented in a discrete-time fashion for sampled-data systems. Substantial research effort has gone into the study on how to design the discrete-time DOB over the past decades, yet there is still no unified approach to robust stability analysis for the various types of DOBs. In this paper, by representing these variations into a general structure, we present a generalized framework for stab...



14:30~14:45	WB02-5

A DOB based Robust Current Control of Permanent Magnet Synchronous Motor
Yonghun Kim, Kyung-Soo Kim, Soohyun Kim(KAIST, Korea, Republic of )

This paper presents a novel current-controlmethod for a PermanentMagnet SynchronousMotor(PMSM) with a disturbance observer (DOB). As the proposed DOB has a semi-deterministic feature, the method is simple to be adopted in a microprocessor based control logic. The frequency domain analysis shows control performance of the proposed algorithm and others more practically. This control method improves gain and phase margins of the conventional robust current control methods when uncertainties exist on motor parameters and motor speed.