Title:
SYSTEM COMPRISING ROBUST OPTIMAL DISTURBANCE OBSERVER FOR HIGH-PRECISION POSITION CONTROL PERFORMED BY ELECTRONIC DEVICE, AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2022/108287
Kind Code:
A1
Abstract:
Disclosed is a system comprising a robust optimal disturbance observer for high-precision position control performed by an electronic device. The system comprises: a plant (P) to be controlled; a controller (C); a first weight function (W1); a second weight function (W2); and a disturbance observer, wherein the first weight function (W1) receives a difference value between a disturbance (w) and an output (uDO) of the disturbance observer as an input value, the second weight function (W2) receives a difference value between the output value of the controller (C) and the output (uDO) of the disturbance observer as an input value, the plant (P) to be controlled receives, as an input value, the sum value of the disturbance (w) and the difference value between the output value of the controller (C) and the output (uDO) of the disturbance observer, and the controller (C) receives an output value of the plant (P) to be controlled as an input value.
Inventors:
SUH SANG MIN (KR)
Application Number:
PCT/KR2021/016697
Publication Date:
May 27, 2022
Filing Date:
November 16, 2021
Export Citation:
Assignee:
GANGNEUNG WONJU NAT UNIV IND ACAD COOP GROUP (KR)
International Classes:
G05B13/02; G05D3/12
Foreign References:
| KR101377637B1 | 2014-03-25 | |||
| KR100761855B1 | 2007-09-28 | |||
| KR101393765B1 | 2014-05-12 |
Other References:
KIM WONHEE, SUH SANGMIN: "Suboptimal Disturbance Observer Design Using All Stabilizing Q Filter for Precise Tracking Control", MATHEMATICS, vol. 8, no. 9, pages 1434, XP055931980, DOI: 10.3390/math8091434
SEO SANG-MIN: "Stable Optimal Q Filter Design in Disturbance Observer", ICORS ANNUAL CONFERENCE (ICOROS) 2020 - JULY 2 (THU) - 4 (SAT), 2020 SONO CALM DELFINO C/D, GANGWON-DO, SOCIETY OF CONTROL·ROBOT·SYSTEMS, KOREA, 4 July 2020 (2020-07-04) - 4 July 2020 (2020-07-04), Korea, pages 490 - 492, XP055931981
SEO SANG-MIN: "Stable Optimal Q Filter Design in Disturbance Observer", ICORS ANNUAL CONFERENCE (ICOROS) 2020 - JULY 2 (THU) - 4 (SAT), 2020 SONO CALM DELFINO C/D, GANGWON-DO, SOCIETY OF CONTROL·ROBOT·SYSTEMS, KOREA, 4 July 2020 (2020-07-04) - 4 July 2020 (2020-07-04), Korea, pages 490 - 492, XP055931981
Attorney, Agent or Firm:
KIM, Nam Hyuk (KR)
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