Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems Without Velocity and Current Feedback Considering Actuator Dynamics
DC Field | Value | Language |
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dc.contributor.author | Kim, Yonghun | - |
dc.contributor.author | Kim, Seok-Kyoon | - |
dc.contributor.author | Ahn, Choon Ki | - |
dc.date.accessioned | 2021-08-30T05:03:58Z | - |
dc.date.available | 2021-08-30T05:03:58Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2021-01 | - |
dc.identifier.issn | 1549-8328 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/50617 | - |
dc.description.abstract | This paper develops an observer-based positioning scheme for ball-beam systems considering actuator dynamics. The practical constraints are handled systematically, including the mechanical dynamical nonlinearities, mismatched load disturbances, and parameter uncertainties. This result provides contributions as follows. First, parameter-independent observers exponentially estimate the ball velocity, motor speed, and its acceleration to remove the velocity, motor speed, and current feedback. Second, the auto-tuner automatically adjusts the desired closed-loop input-output behaviors to update its cut-off frequency in the transient operations. Third, observer-based active damping injection reduces the closed-loop ball position and actuator speed dynamics to 1 by pole-zero cancellation. Finally, disturbance observers act as a dynamic compensator by estimating the disturbances from model-plant mismatches such as dynamic nonlinearities, mismatched load disturbances, and parameter variations. The experimental study verifies the applicability of the proposed technique using the Quanser Ball-Beam hardware driven by an SRV02 servomotor. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | SLIDING MODE CONTROL | - |
dc.subject | ROBUST-CONTROL | - |
dc.title | Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems Without Velocity and Current Feedback Considering Actuator Dynamics | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/TCSI.2020.3032128 | - |
dc.identifier.scopusid | 2-s2.0-85099382554 | - |
dc.identifier.wosid | 000607383700035 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, v.68, no.1, pp.396 - 405 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS | - |
dc.citation.title | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS | - |
dc.citation.volume | 68 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 396 | - |
dc.citation.endPage | 405 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.subject.keywordPlus | SLIDING MODE CONTROL | - |
dc.subject.keywordPlus | ROBUST-CONTROL | - |
dc.subject.keywordAuthor | Ball balancing | - |
dc.subject.keywordAuthor | positioning | - |
dc.subject.keywordAuthor | auto-tuner | - |
dc.subject.keywordAuthor | state estimation | - |
dc.subject.keywordAuthor | disturbance observer | - |
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