Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview

Sarıyıldız, Emre; Oboe, Roberto; Ohnishi, Kouhei

doi:10.1109/tie.2019.2903752

Cited by 389 publications

(183 citation statements)

References 110 publications

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“…The introduction of the saturation function will reduce the robustness of the system, but the line interference may be greater during train operation, especially on ramps. Disturbance observer (DOB) has been one of the most widely used robust control tools which can effectively improve robustness and anti-disturbance [43,44]. Therefore, a disturbance observer is introduced in this part.…”

Section: Disturbance Observermentioning

confidence: 99%

Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros

et al. 2020

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Nowadays, most metro vehicles are equipped with an automatic train operation (ATO) system, and the speed control method, combining cruise speed planning and proportional-integral-derivative (PID) control, is widely used. The automation is achieved, and the energy-efficient can be improved. This paper presents an improved artificial bee colony algorithm for speed profile optimization with coast mode and an adaptive terminal sliding mode method for speed tracking. Specifically, a multi-objective optimization model is established, which considers energy consumption, comfortableness, and punctuality. Then, a novel artificial bee colony algorithm named regional reinforcement artificial bee colony (RR-ABC) is designed, to search the optimal speed profile with coast mode, in which some improvements are made to speed up convergence and to avoid local optimal solutions. For speed-tracking control, the adaptive terminal sliding mode controller (ATSMC) is used to improve the speed error, robustness, and energy saving. In addition, a disturbance observer (DOB) is designed to improve the anti-interference ability of the system and further improve the robustness and anti-disturbance, which are also conducive to speed error and energy saving. Finally, the line and train data of the Qingdao Metro Line 6 are used for simulation, which proves the effectiveness of the study. Specific to the energy saving rate, and compared with normal algorithms, RR-ABC with coast mode is approximately 9.55%, and ATSMC+DOB is 7.58%.

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Section: Disturbance Observermentioning

confidence: 99%

Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros

et al. 2020

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“…Other techniques require complex algorithms and a large number of operations in comparison to the DOB. Although there are other techniques (e.g., Sliding Mode Control (SMC) [66]) proposed in the robust control field to improve the stability and performance of the control system in dealing with different disturbances and uncertainties, the DOB technique is one of the most popular due to its simplicity, flexibility, and efficacy [67]. Other disturbance/uncertainties estimation techniques are discussed and compared in [68].…”

Section: Dob Designmentioning

confidence: 99%

Haptic Augmentation Towards a Smart Learning Environment: The Haptic Lever Design

et al. 2020

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This paper presents the design of a haptic interface called the Haptic Lever, to show four force-related phenomena for haptic augmentation towards Smart Learning Environments. The Haptic Lever is a mechanism with a sensorless torque control developed by means of a Disturbance Observer (DOB) to render forces that allow users to feel virtual phenomena. The control response converges in the torque reference as a result of a gain calibration and the DOB response. The Haptic Lever was evaluated experimentally with four dynamic models for constant (membrane), linear (Hook's law and viscous damping), and exponential (Coulomb's law) haptic augmentation. In the first experiment, the user can feel a constant force when passing between two reference points and feel resistance while moving through a virtual membrane. In the second and third experiment, the user can feel and interact with the linear dynamic models of Hook's law and viscous damping, in the form of a compression or tension spring by pushing or pulling them, respectively. Finally, in the fourth experiment, the user can feel an attraction or repulsion force between two virtual point charges that follows the exponential dynamic model of Coulomb's law. The results obtained from the experiments showed that the Haptic Lever successfully rendered the equivalent forces to each virtual phenomenon. The haptic sensation is estimated in terms of the torque response under a profile determined by the dynamic models. From the experimental results, it can be observed that the torque in Nm corresponded to each represented phenomenon.

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“…Conventionally, it can be provided by a force or a torque sensor. Alternatively, it can be obtained by the observer-based approach [42,107,[145][146][147][148][149][150][151][152]. The latter requires a precise mechanical design, and, furthermore, it cannot compensate for modeling errors and uncertainties that, in sequence, impairs haptic fidelity.…”

Section: The Experimental Systemmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview

Cited by 389 publications

References 110 publications

Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros

Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros

Haptic Augmentation Towards a Smart Learning Environment: The Haptic Lever Design

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

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