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Full-Text Articles in Social and Behavioral Sciences
A Disturbance Observer-Based Robust Controller Design For Systems With Right Half Plane Zeros And Poles, Emre Sariyildiz, Ilhan Mutlu, Rahim Mutlu
A Disturbance Observer-Based Robust Controller Design For Systems With Right Half Plane Zeros And Poles, Emre Sariyildiz, Ilhan Mutlu, Rahim Mutlu
Faculty of Engineering and Information Sciences - Papers: Part B
This paper analytically derives the bandwidth limitations of Disturbance Observer (DOB) when plants have Right Half Plane (RHP) zero(s) and pole(s). If the plant is non-minimum phase, then the bandwidth of DOB should be set at a lower value than its upper bound to improve the robust stability and performance. If the plant is unstable, then the bandwidth of DOB should be set at a higher value than its lower bound to achieve the robust stability. The upper and lower bounds are analytically derived by using Poisson integral formula. It is shown that the bandwidth limitation of DOB is directly …
A Robust Force Controller Design For Series Elastic Actuators, Emre Sariyildiz, Haoyong Yu
A Robust Force Controller Design For Series Elastic Actuators, Emre Sariyildiz, Haoyong Yu
Faculty of Engineering and Information Sciences - Papers: Part B
A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high transparency, etc., in advanced robot applications, such as humanoids, quadrupeds and exoskeletons. However, the motion control problem of an SEA is more complicated than that of a conventional stiff actuator due to its higher order dynamics. This paper proposes a novel Active Disturbance Rejection (ADR) based robust force controller for SEAs by combining Differential Flatness (DF) and Disturbance Observer (DOb) …
A Practical Tuning Method For The Robust Pid Controller With Velocity Feed-Back, Emre Sariyildiz, Haoyong Yu, Kouhei Ohnishi
A Practical Tuning Method For The Robust Pid Controller With Velocity Feed-Back, Emre Sariyildiz, Haoyong Yu, Kouhei Ohnishi
Faculty of Engineering and Information Sciences - Papers: Part B
Proportional-Integral-Derivative (PID) control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered …