메뉴 건너뛰기
Library Notice
Institutional Access
If you certify, you can access the articles for free.
Check out your institutions.
ex)Hankuk University, Nuri Motors
Log in Register Help KOR
Subject
Humanities
General Humanities History Philosophy Religious Studies Linguistics and Literature Other Humanities
Social science
General Social Science Business Management Tourism Education Military Science Library and Information Science Law Sociology Journalism and Media Studies Psychological Science Political Science and Diplomacy Geography Public Administration Economics International Trade Anthropology Other Social Science
Natural science
General Natural Science Physics Biology Life Sciences Mathematics/Statistics Astronomy Earth Science Chemistry Other Natural Science
Engineering
General Engineering Architectural Engineering Mechanical Engineering Industrial Engineering Material/Energy Engineering Electrical and Electronic Engineering Marine and Ocean Engineering Chemical Engineering Computer Science Other Engineering
Medical science
General Medical Science Nursing Science Veterinary Pharmacy Traditional Korean Medicine Basic Medicine Clinical Medicine Other Medicine
Agriculture and Fishery
General Agriculture and Fishery Agriculture Fishery Science Food Science Forestry Animal Husbandry Marine Transportation Studies Other Agriculture and Fishery
Art and Kinesiology
General Arts Design Fine Arts Cosmetology Photography Music Fashion Kinesiology Performing Media Arts Other Arts and Kinesiology
Interdisciplinary Studies
Interdisciplinary Research Science and Technology Studies Brain and Cognitive Science Technology Policy Other Interdisciplinary Studies

KOR

Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer
Recommendations
Search
Questions

내부 모델 기반 외란 관측기를 이용한 수직 1축 머니퓰레이터의 속도 제어기 설계

논문 기본 정보

Type
Academic journal
Author
Cho-Won (명지대학교) Lee․In Hyuk Kim (명지대학교) Young Ik Son (명지대학교)
Journal
The Korean Institute of Electrical Engineers The transactions of The Korean Institute of Electrical Engineers Vol.64 No.5 KCI Accredited Journals SCOPUS
Published
2015.5
Pages
751 - 754 (4page)

Usage

cover
📌
Topic
📖
Background
🔬
Method
🏆
Result
Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer
Ask AI
Recommendations
Search
Questions

Research history (4)

2016

Design of a Model-Based Low-Order Disturbance Observer to Estimate a Sinusoidal Disturbance with Unknown Constant Offset
Cho-Won Lee ,  Young Ik Son The transactions of The Korean Institute of Electrical Engineers 2016.04 Academic journal
Design of disturbance observer-based robust controller against time-varying disturbance
이초원 전기공학과 2016.01 Thesis

2015

Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer
Cho-Won ,  Lee․In Hyuk Kim ,  Young Ik Son The transactions of The Korean Institute of Electrical Engineers 2015.05 Academic journal

2014

Compensation of Sinusoidal Disturbance Input for a Mechanical System Using a Disturbance Observer
Cho-Won Lee ,  In Hyuk Kim ,  Sang-Myung Lee and others 1 대한전기학회 학술대회 논문집 2014.10 Proceeding
  • Are you curious about the follow-up research of this article?
  • You can check more advanced research results through related academic papers or academic presentations.
  • Check the research history of this article

Abstract· Keywords

Report Errors
This paper deals with a robust speed control problem of a vertical one-link manipulator in the presence of parameter uncertainties and unknown input disturbance. Uncertain load weight causes an additional sinusoidal disturbance in the rotation of the link. In order to improve the robustness against parameter uncertainties and external input disturbances, this paper employs an internal model-based disturbance observer approach. Comparative computer simulations are performed to test the performance of the proposed controller. The simulation results show the enhanced performance of the proposed method.
#One-Link Manipulator #Parameter Uncertainty #Sinusoidal Disturbance #Disturbance Observer

Contents

Abstract
1. 서론
2. 시스템 모델과 외란 관측기
3. 제안하는 제어기
4. 모의실험
5. 결론
References

References (7)

Add References
박진균 / 2012 / 수직다관절 로봇의 중력보상장치 최적설계 / 대한기계학회논문집 A 36(1):103~108 dbpia S. E. Talole / 2010 / Extended State Observer Based Control of Flexible Joint System with Experimental Validation / IEEE Trans. Ind. Electron 57:1411~1419 google schola 강남숙 / 2013 / 외란관측기를 이용한 자기부상시스템의 제어기 설계에 관한 연구 / 전기학회논문지 62(9):1264~1269 dbpia Y. Choi / 2003 / On the Robustness and Performance of Disturbance Observers for Second-Order Systems / IEEE Trans. Autom. Control 48:315~320 google schola J. Back / 2008 / Adding Robustness to Nominal Output Feedback Controllers for Uncertain Nonlinear Systems : A Nonlinear Version of Disturbance Observer / Automatica 44:2528~2537 google schola

Recommendations

It is an article recommended by DBpia according to the article similarity. Check out the related articles!

Related Authors

Frequently Viewed Together

The smoothing effect analysis in Jeju between west and east side wind farms
Yeong-Jun Ko ,  Se-Ho Kim ,  Yeong-Hwan Kim and others 3 대한전기학회 학술대회 논문집 2010 .07
Power Output Control of Wind Generation System Through Energy Storage System and STATCOM
Jong-Yul Kim ,  June Ho Pa ,  k The transactions of The Korean Institute of Electrical Engineers 2010 .10
Design of a Robust Controller for Position Control of a Small One-Link Robot Arm with Input Time-Delay
Goo Jong Jeong ,  In Hyuk Kim ,  Young Ik Son The transactions of The Korean Institute of Electrical Engineers 2010 .06
Design of Disturbance Observer-Based Robust Controller for a Time-Delay System
Goo-jong Jeong ,  Young-Ik Son ,  Yu-seok Jeong INFORMATION AND CONTROL SYMPOSIUM 2008 .04

Recently viewed articles

정부의 정책수단이 정부성과 인식에 미치는 영향에 대한 연구
황창호Korean Association of Governmental Studies2015.12
 “초등 도덕과 교육과정에서 다문화 교육의 개선 방안” 에 대한 토론문
김완수korea society for moral & ethics education association2021.08

Comments(0)

0

Write first comments.

UCI(KEPA) : I410-ECN-0101-2016-560-001412675