Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System

Taejune Kong; Hanul Jung; Sehoon Oh; Hyun Joon Chung

doi:10.1109/ISIE45552.2021.9576336

Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System

Taejune Kong
, Hanul Jung
, Sehoon Oh
, Hyun Joon Chung

Department of Robotics and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system.

Original language	English
Title of host publication	Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728190235
DOIs	https://doi.org/10.1109/ISIE45552.2021.9576336
State	Published - 20 Jun 2021
Event	30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan Duration: 20 Jun 2021 → 23 Jun 2021

Publication series

Name	IEEE International Symposium on Industrial Electronics
Volume	2021-June

Conference

Conference	30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Country/Territory	Japan
City	Kyoto
Period	20/06/21 → 23/06/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

disturbance observer
feedforward controller
flexible system
instrumental variable
iterative control

Access to Document

10.1109/ISIE45552.2021.9576336

Cite this

Kong, T., Jung, H., Oh, S., & Chung, H. J. (2021). Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System. In Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021 (IEEE International Symposium on Industrial Electronics; Vol. 2021-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE45552.2021.9576336

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title = "Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System",

abstract = "Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system.",

keywords = "disturbance observer, feedforward controller, flexible system, instrumental variable, iterative control",

author = "Taejune Kong and Hanul Jung and Sehoon Oh and Chung, \{Hyun Joon\}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 30th IEEE International Symposium on Industrial Electronics, ISIE 2021 ; Conference date: 20-06-2021 Through 23-06-2021",

year = "2021",

month = jun,

day = "20",

doi = "10.1109/ISIE45552.2021.9576336",

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Kong, T, Jung, H, Oh, S & Chung, HJ 2021, Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System. in Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. IEEE International Symposium on Industrial Electronics, vol. 2021-June, Institute of Electrical and Electronics Engineers Inc., 30th IEEE International Symposium on Industrial Electronics, ISIE 2021, Kyoto, Japan, 20/06/21. https://doi.org/10.1109/ISIE45552.2021.9576336

Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System. / Kong, Taejune; Jung, Hanul; Oh, Sehoon et al.
Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (IEEE International Symposium on Industrial Electronics; Vol. 2021-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System

AU - Kong, Taejune

AU - Jung, Hanul

AU - Oh, Sehoon

AU - Chung, Hyun Joon

PY - 2021/6/20

Y1 - 2021/6/20

N2 - Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system.

AB - Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system.

KW - disturbance observer

KW - feedforward controller

KW - flexible system

KW - instrumental variable

KW - iterative control

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DO - 10.1109/ISIE45552.2021.9576336

M3 - Conference contribution

AN - SCOPUS:85118768380

T3 - IEEE International Symposium on Industrial Electronics

BT - Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th IEEE International Symposium on Industrial Electronics, ISIE 2021

Y2 - 20 June 2021 through 23 June 2021

ER -

Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System

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Keywords

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