DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang P.H. | ko |
dc.contributor.author | Lee J.W. | ko |
dc.contributor.author | Park S.H. | ko |
dc.date.accessioned | 2011-04-04T07:19:20Z | - |
dc.date.available | 2011-04-04T07:19:20Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1997 | - |
dc.identifier.citation | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, v.119, no.3, pp.521 - 527 | - |
dc.identifier.issn | 0022-0434 | - |
dc.identifier.uri | http://hdl.handle.net/10203/23139 | - |
dc.description.abstract | Motivated by the idea of the time delay estimation used in the Time Delay Control, Time Delay Observer (TDO) has been constructed. Owing to this idea, TDO does not require a model, and hence is easy to design for nonlinear systems in the phase variable form, even when the plant dynamics is not well known. Not including a model, TDO turned out to be robust to parameter variations and computationally efficient; yet achieved better accuracy. For this observer the convergence property and the sensitivity to sensor noise have been analyzed. Then, in a simulation with a nonlinear plant, and in an experiment with a robot, TDO achieved an accuracy level similar to sliding observer and better than a Kalman filter. In an experiment on a pneumatic cylinder control, TDO reconstructed states much better than a numerical differentiator with low-pass filtering. | - |
dc.description.sponsorship | The authors wish to thank Samsung Electronics Co. for providing the FARA robot for the experiment. This work was supported by the Agency for Defense Development Grant #UD930075FD. | en |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | ASME-AMER SOC MECHANICAL ENG | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.subject | SLIDING OBSERVERS | - |
dc.subject | VARIABLE SYSTEMS | - |
dc.subject | LINEARIZATION | - |
dc.subject | FEEDBACK | - |
dc.subject | DESIGN | - |
dc.subject | FORM | - |
dc.title | Time Delay Observer: A robust observer for nonlinear plants | - |
dc.type | Article | - |
dc.identifier.wosid | A1997XZ55800022 | - |
dc.type.rims | ART | - |
dc.citation.volume | 119 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 521 | - |
dc.citation.endingpage | 527 | - |
dc.citation.publicationname | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.identifier.doi | 10.1115/1.2801288 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang P.H. | - |
dc.contributor.nonIdAuthor | Lee J.W. | - |
dc.contributor.nonIdAuthor | Park S.H. | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | SLIDING OBSERVERS | - |
dc.subject.keywordPlus | VARIABLE SYSTEMS | - |
dc.subject.keywordPlus | LINEARIZATION | - |
dc.subject.keywordPlus | FEEDBACK | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | FORM | - |
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