The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform
Anton A. Stoorvogel - One of the best experts on this subject based on the ideXlab platform.
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Control of open-loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, Håvard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
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Control of open‐loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, H°avard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
Y.s.n. Malleswararao - One of the best experts on this subject based on the ideXlab platform.
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Model reference control of non-Linear systems with relative order two: application to a semibatch reactor
Journal of Process Control, 1992Co-Authors: Mandan Chidambaram, Y.s.n. MalleswararaoAbstract:Abstract The design of a robust non-Linear Feedback Controller incorporating integral and derivative actions is presented for non-Linear systems with relative order two. The design method is applied to product concentration tracking in the case of parallel reactions occurring in a semibatch isothermal reactor. The simulation results show the effectiveness of the control scheme and its robustness to modelling errors.
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Robust control of oscillations in isothermal continuous stirred tank aerosol reactors
Journal of Process Control, 1991Co-Authors: M. Chidambaram, Y.s.n. MalleswararaoAbstract:Abstract A method for the design of a robust non-Linear Feedback Controller is presented for control of oscillations in isothermal continuous stirred tank aerosol reactors (CSTAR). The manipulative variable is the seeding or destruction of particles and the controlled variable is the number moment. Simulation results show that the control system is robust to modelling errors and that the performance of the controlled system is very good.
Xu Wang - One of the best experts on this subject based on the ideXlab platform.
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Control of open-loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, Håvard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
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Control of open‐loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, H°avard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
Ali Saberi - One of the best experts on this subject based on the ideXlab platform.
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Control of open-loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, Håvard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
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Control of open‐loop neutrally stable systems subject to actuator saturation and external disturbances
International Journal of Robust and Nonlinear Control, 2011Co-Authors: Xu Wang, Ali Saberi, H°avard Fjær Grip, Anton A. StoorvogelAbstract:In this paper, we study the disturbance response of open-loop neutrally stable Linear systems with saturating Linear Feedback Controller. It is shown that the closed-loop states remain bounded if the disturbances con- sists of those signals that do not have large sustained frequency components corresponding to the system’s eigenvalues on the imaginary axis (continuous-time) or on the unit circle (discrete-time).
Jaeheung Park - One of the best experts on this subject based on the ideXlab platform.
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disturbance observer based Linear Feedback Controller for compliant motion of humanoid robot
International Conference on Robotics and Automation, 2018Co-Authors: Jaeheung ParkAbstract:Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots. Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially, unstable contact between the foot and ground caused by joint elasticity is a critical problem, as it decreases the stability of position-controlled humanoid robots. To address this problem, this paper introduces a novel control scheme for position-controlled humanoid robots by which we can obtain not only enhance compliance capability for unknown contact but also suppress the vibration caused by joint elasticity. To estimate the disturbance caused by external forces and modeling errors between the actual system and nominal system, a disturbance observer based estimator is designed at each joint. Furthermore, a Linear Feedback Controller for the flexible joint model and a gravity compensator is considered to reduce vibration and deflection due to the joint elasticity. The proposed control scheme was implemented on our humanoid robot, DYROS-JET, and its performance was demonstrated by improved stability during dynamic walking and stepping on objects.
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ICRA - Disturbance Observer Based Linear Feedback Controller for Compliant Motion of Humanoid Robot
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018Co-Authors: Mingon Kim, Jung Hoon Kim, Sanghyun Kim, Jaehoon Sim, Jaeheung ParkAbstract:Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots. Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially, unstable contact between the foot and ground caused by joint elasticity is a critical problem, as it decreases the stability of position-controlled humanoid robots. To address this problem, this paper introduces a novel control scheme for position-controlled humanoid robots by which we can obtain not only enhance compliance capability for unknown contact but also suppress the vibration caused by joint elasticity. To estimate the disturbance caused by external forces and modeling errors between the actual system and nominal system, a disturbance observer based estimator is designed at each joint. Furthermore, a Linear Feedback Controller for the flexible joint model and a gravity compensator is considered to reduce vibration and deflection due to the joint elasticity. The proposed control scheme was implemented on our humanoid robot, DYROS-JET, and its performance was demonstrated by improved stability during dynamic walking and stepping on objects.