Disturbance decomposition of time delay system by shadow robot based on network disturbance concept

Aryabhima A. Rahman, Kenji Natori, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper discusses the problem of time delayed control system with communication disturbance observer (CDOB) when the system suffers large external force. This method is based on the concept of network disturbance that consider the effect of time delay as a disturbance in acceleration dimension. CDOB estimate the effect of time delay to the system and using the estimation result compensate it. In practical application, disturbance observer (DOB) is used simultaneously with CDOB to compensate disturbances other than network disturbance, such as external force, friction, gravitation effect, etc. When such disturbance forces are quite large, the accuracy of network disturbance estimation is degraded. A method using shadow system is proposed to decompose the disturbances thus accurate time delay compensation can be achieved.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

Fingerprint

Time delay
Robots
Decomposition
Communication
Gravitation
Friction
Control systems
Compensation and Redress

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Rahman, A. A., Natori, K., & Ohnishi, K. (2009). Disturbance decomposition of time delay system by shadow robot based on network disturbance concept. In Proceedings of the IEEE International Conference on Industrial Technology [4939647] https://doi.org/10.1109/ICIT.2009.4939647

Disturbance decomposition of time delay system by shadow robot based on network disturbance concept. / Rahman, Aryabhima A.; Natori, Kenji; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939647.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rahman, AA, Natori, K & Ohnishi, K 2009, Disturbance decomposition of time delay system by shadow robot based on network disturbance concept. in Proceedings of the IEEE International Conference on Industrial Technology., 4939647, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939647
Rahman AA, Natori K, Ohnishi K. Disturbance decomposition of time delay system by shadow robot based on network disturbance concept. In Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939647 https://doi.org/10.1109/ICIT.2009.4939647
Rahman, Aryabhima A. ; Natori, Kenji ; Ohnishi, Kouhei. / Disturbance decomposition of time delay system by shadow robot based on network disturbance concept. Proceedings of the IEEE International Conference on Industrial Technology. 2009.
@inproceedings{105b552149cb464481fda02054023b5d,
title = "Disturbance decomposition of time delay system by shadow robot based on network disturbance concept",
abstract = "This paper discusses the problem of time delayed control system with communication disturbance observer (CDOB) when the system suffers large external force. This method is based on the concept of network disturbance that consider the effect of time delay as a disturbance in acceleration dimension. CDOB estimate the effect of time delay to the system and using the estimation result compensate it. In practical application, disturbance observer (DOB) is used simultaneously with CDOB to compensate disturbances other than network disturbance, such as external force, friction, gravitation effect, etc. When such disturbance forces are quite large, the accuracy of network disturbance estimation is degraded. A method using shadow system is proposed to decompose the disturbances thus accurate time delay compensation can be achieved.",
author = "Rahman, {Aryabhima A.} and Kenji Natori and Kouhei Ohnishi",
year = "2009",
doi = "10.1109/ICIT.2009.4939647",
language = "English",
isbn = "1424435064",
booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",

}

TY - GEN

T1 - Disturbance decomposition of time delay system by shadow robot based on network disturbance concept

AU - Rahman, Aryabhima A.

AU - Natori, Kenji

AU - Ohnishi, Kouhei

PY - 2009

Y1 - 2009

N2 - This paper discusses the problem of time delayed control system with communication disturbance observer (CDOB) when the system suffers large external force. This method is based on the concept of network disturbance that consider the effect of time delay as a disturbance in acceleration dimension. CDOB estimate the effect of time delay to the system and using the estimation result compensate it. In practical application, disturbance observer (DOB) is used simultaneously with CDOB to compensate disturbances other than network disturbance, such as external force, friction, gravitation effect, etc. When such disturbance forces are quite large, the accuracy of network disturbance estimation is degraded. A method using shadow system is proposed to decompose the disturbances thus accurate time delay compensation can be achieved.

AB - This paper discusses the problem of time delayed control system with communication disturbance observer (CDOB) when the system suffers large external force. This method is based on the concept of network disturbance that consider the effect of time delay as a disturbance in acceleration dimension. CDOB estimate the effect of time delay to the system and using the estimation result compensate it. In practical application, disturbance observer (DOB) is used simultaneously with CDOB to compensate disturbances other than network disturbance, such as external force, friction, gravitation effect, etc. When such disturbance forces are quite large, the accuracy of network disturbance estimation is degraded. A method using shadow system is proposed to decompose the disturbances thus accurate time delay compensation can be achieved.

UR - http://www.scopus.com/inward/record.url?scp=67650292937&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650292937&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2009.4939647

DO - 10.1109/ICIT.2009.4939647

M3 - Conference contribution

AN - SCOPUS:67650292937

SN - 1424435064

SN - 9781424435067

BT - Proceedings of the IEEE International Conference on Industrial Technology

ER -