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 publication2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs
Publication statusPublished - 2009 Jul 17
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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