Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 8 of 8 for “"Disturbance observer"”.
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Structure-Inspired Disturbance Observer Design and Disturbance Observer-Based Control/estimation
… consists of two topics: (1) structure-inspired disturbance observer design and (2) disturbance observer-based control/estimation. The disturbance is defined as the discrepancy between a model and the system the model represents. A disturbance observer is an algorithm that generates an estimate …
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Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot
… of a cooperative target using a nonlinear disturbance observer coupled with an impedance controller, and the observer is shown to be asymptotically stable for the case of a free-flying space robot. The performance of the techniques proposed for each phase are first verified in simulation, …
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Analysis, development, and control of multi-degree-of-freedom passive haptic devices
… thesis also investigates the use of a nonlinear disturbance observer to aid in the control of passive haptic devices.
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Development of a research vehicle able to perform autonomous manoeuvres
… Two control architectures, based on a disturbance observer, have been developed and compared in a simulation campaign, that has been carried out by means of a static simulator which reproduces the driving of RUMBy in a virtual environment. This work aims then at marking a milestone …
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Active Vibration Suppression for Wafer Transfer Systems in Semiconductor Fabrication Plants
… to identify the system dynamics. Finally, a Disturbance Observer-Based Controller (DOBC) is developed and implemented on the hardware. The experimental results show that the DOBC achieves 38 percent reduction of OHT hand unit vibration and 42 percent reduction of FOUP vibration in the OHT …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… feedforward and PID control with a model-based disturbance observer, enabling naturally compliant behaviors with low joint impedance. For mid-level control, we implement an optimization-based whole-body control strategy assuming a rigid body model of the robot. Joint torque setpoints are …
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An In-Vitro Study of the Temporomandibular Reaction Forces through Motion-Capturing and Robotics
… RAPR’s inverse dynamics problem. Finally, disturbance observer-based control is used for trajectory tracking control of the RAPR’s mandible to follow a human subject’s mandibular motion captured by the motion-capturing system. The combination of the portable motion-capturing system and the …
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Discrete Modeling and Sliding Mode Control of Piezoelectric Actuators
… and other nonlinear effects can be regard as disturbance to the dynamic model and thus rejected or compensated by its switching control. To implement SMC in digital computers, this research is aimed at developing novel discrete models and discrete SMC (DSMC)-based control schemes for PEAs, …