A model reference observer for time-delay control and its application to robot trajectory control

This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addr...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on control systems technology 1996-01, Vol.4 (1), p.2-10
Hauptverfasser:	Chang, P.H., Lee, J.W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Computer science control theory systems Control system synthesis Control systems Control theory. Systems Design methodology Exact sciences and technology Noise robustness Nonlinear control systems Nonlinear systems Observers Robot sensing systems Robust control State estimation Sufficient conditions
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

container_end_page	10
container_issue	1
container_start_page	2
container_title	IEEE transactions on control systems technology
container_volume	4
creator	Chang, P.H. Lee, J.W.
description	This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia variations and external disturbances. The results showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations.
doi_str_mv	10.1109/87.481761
format	Article
fullrecord	<record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_miscellaneous_28940335</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>481761</ieee_id><sourcerecordid>28940335</sourcerecordid><originalsourceid>FETCH-LOGICAL-c337t-5d1a4eb6337027a868057ab03df8b6b4cc3543007e8a58a23fa0e66f165d5ddb3</originalsourceid><addsrcrecordid>eNqNkD1rwzAQhkVpoWnaoWsnDaXQwalkWR8ZQ-gXBLq0sznLZ1CwLVdSCvn3dXHw3OnueJ97hpeQW85WnLP1k9GrwnCt-BlZcClNxoyS5-POlMiUFOqSXMW4Z4wXMtcLAhva-RpbGrDBgL1F6quI4QcDbXygyXWYjTkcqfV9Cr6l0NfUpUhhGFpnITnf0-Rp8JVPNAXYo00-zPw1uWigjXhzmkvy9fL8uX3Ldh-v79vNLrNC6JTJmkOBlRoPlmswyjCpoWKibkylqsJaIQvBmEYD0kAuGmCoVMOVrGVdV2JJHibvEPz3AWMqOxctti306A-xzM26YELIf4BC50rwEXycQBt8jGNB5RBcB-FYclb-tV0aXU5tj-z9SQrRQtsE6K2L84NgUkpdjNjdhDlEnNOT4xecCodf</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>28372631</pqid></control><display><type>article</type><title>A model reference observer for time-delay control and its application to robot trajectory control</title><source>IEEE Electronic Library (IEL)</source><creator>Chang, P.H. ; Lee, J.W.</creator><creatorcontrib>Chang, P.H. ; Lee, J.W.</creatorcontrib><description>This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia variations and external disturbances. The results showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations.</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/87.481761</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Computer science; control theory; systems ; Control system synthesis ; Control systems ; Control theory. Systems ; Design methodology ; Exact sciences and technology ; Noise robustness ; Nonlinear control systems ; Nonlinear systems ; Observers ; Robot sensing systems ; Robust control ; State estimation ; Sufficient conditions</subject><ispartof>IEEE transactions on control systems technology, 1996-01, Vol.4 (1), p.2-10</ispartof><rights>1996 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c337t-5d1a4eb6337027a868057ab03df8b6b4cc3543007e8a58a23fa0e66f165d5ddb3</citedby><cites>FETCH-LOGICAL-c337t-5d1a4eb6337027a868057ab03df8b6b4cc3543007e8a58a23fa0e66f165d5ddb3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/481761$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,4024,27923,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/481761$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=3055574$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Chang, P.H.</creatorcontrib><creatorcontrib>Lee, J.W.</creatorcontrib><title>A model reference observer for time-delay control and its application to robot trajectory control</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia variations and external disturbances. The results showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control system synthesis</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>Design methodology</subject><subject>Exact sciences and technology</subject><subject>Noise robustness</subject><subject>Nonlinear control systems</subject><subject>Nonlinear systems</subject><subject>Observers</subject><subject>Robot sensing systems</subject><subject>Robust control</subject><subject>State estimation</subject><subject>Sufficient conditions</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1996</creationdate><recordtype>article</recordtype><recordid>eNqNkD1rwzAQhkVpoWnaoWsnDaXQwalkWR8ZQ-gXBLq0sznLZ1CwLVdSCvn3dXHw3OnueJ97hpeQW85WnLP1k9GrwnCt-BlZcClNxoyS5-POlMiUFOqSXMW4Z4wXMtcLAhva-RpbGrDBgL1F6quI4QcDbXygyXWYjTkcqfV9Cr6l0NfUpUhhGFpnITnf0-Rp8JVPNAXYo00-zPw1uWigjXhzmkvy9fL8uX3Ldh-v79vNLrNC6JTJmkOBlRoPlmswyjCpoWKibkylqsJaIQvBmEYD0kAuGmCoVMOVrGVdV2JJHibvEPz3AWMqOxctti306A-xzM26YELIf4BC50rwEXycQBt8jGNB5RBcB-FYclb-tV0aXU5tj-z9SQrRQtsE6K2L84NgUkpdjNjdhDlEnNOT4xecCodf</recordid><startdate>199601</startdate><enddate>199601</enddate><creator>Chang, P.H.</creator><creator>Lee, J.W.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>H8D</scope></search><sort><creationdate>199601</creationdate><title>A model reference observer for time-delay control and its application to robot trajectory control</title><author>Chang, P.H. ; Lee, J.W.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c337t-5d1a4eb6337027a868057ab03df8b6b4cc3543007e8a58a23fa0e66f165d5ddb3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1996</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control system synthesis</topic><topic>Control systems</topic><topic>Control theory. Systems</topic><topic>Design methodology</topic><topic>Exact sciences and technology</topic><topic>Noise robustness</topic><topic>Nonlinear control systems</topic><topic>Nonlinear systems</topic><topic>Observers</topic><topic>Robot sensing systems</topic><topic>Robust control</topic><topic>State estimation</topic><topic>Sufficient conditions</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Chang, P.H.</creatorcontrib><creatorcontrib>Lee, J.W.</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><jtitle>IEEE transactions on control systems technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chang, P.H.</au><au>Lee, J.W.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A model reference observer for time-delay control and its application to robot trajectory control</atitle><jtitle>IEEE transactions on control systems technology</jtitle><stitle>TCST</stitle><date>1996-01</date><risdate>1996</risdate><volume>4</volume><issue>1</issue><spage>2</spage><epage>10</epage><pages>2-10</pages><issn>1063-6536</issn><eissn>1558-0865</eissn><coden>IETTE2</coden><abstract>This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia variations and external disturbances. The results showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/87.481761</doi><tpages>9</tpages></addata></record>
fulltext	fulltext_linktorsrc
identifier	ISSN: 1063-6536
ispartof	IEEE transactions on control systems technology, 1996-01, Vol.4 (1), p.2-10
issn	1063-6536 1558-0865
language	eng
recordid	cdi_proquest_miscellaneous_28940335
source	IEEE Electronic Library (IEL)
subjects	Applied sciences Computer science control theory systems Control system synthesis Control systems Control theory. Systems Design methodology Exact sciences and technology Noise robustness Nonlinear control systems Nonlinear systems Observers Robot sensing systems Robust control State estimation Sufficient conditions
title	A model reference observer for time-delay control and its application to robot trajectory control
url	https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-08T04%3A42%3A36IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20model%20reference%20observer%20for%20time-delay%20control%20and%20its%20application%20to%20robot%20trajectory%20control&rft.jtitle=IEEE%20transactions%20on%20control%20systems%20technology&rft.au=Chang,%20P.H.&rft.date=1996-01&rft.volume=4&rft.issue=1&rft.spage=2&rft.epage=10&rft.pages=2-10&rft.issn=1063-6536&rft.eissn=1558-0865&rft.coden=IETTE2&rft_id=info:doi/10.1109/87.481761&rft_dat=%3Cproquest_RIE%3E28940335%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=28372631&rft_id=info:pmid/&rft_ieee_id=481761&rfr_iscdi=true