Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001473
Tomoya Imanishi, Masahiro Yoshida, J. Wijekoon, H. Nishi
The spread of smart meters means that a large amount of power demand information from private houses is being collected around the world. Owing to the development of smart city infrastructure, the use of standardized frameworks for extracting features from power demand information has become vital. In this paper, we propose a novel decomposition approach useful for extracting feature values from power demand information from a house. Energy consumption was monitored for multiple houses for one month in Japan with a sampling duration of 30 minutes, which is a standard sampling time of smart meters in Japan. First, periodic characteristics were detected for 24 hours based on autocorrelation analysis. Then, the monitored information was decomposed into four components: standby power, trends, and periodic and residual parts. The distribution of the residual part is similar to a Gaussian distribution, so the behavior of the residual part was parameterized using variance and average. Trend, periodic, and residual components were clustered by means of k-means clustering in order to aggregate the difference in behaviors. There was no periodic component in the residual part according to auto-correlation analysis. Nevertheless, some clusters had a relatively large variance, which means that abnormal power demand occurred frequently in datasets. The amount of variance and climate correlation was analyzed, and the fact detected that large scale events disturb usual daily life-styles, from the viewpoint of energy usage. Last, these features were compared with actual customer information. In the evaluation, family structure and floor space were utilized to prove the effectiveness of the proposed decomposition approach. The evaluation proved that this decomposition method could extract uncertainty features from power demand information.
{"title":"Time-series decomposition of power demand data to extract uncertain features","authors":"Tomoya Imanishi, Masahiro Yoshida, J. Wijekoon, H. Nishi","doi":"10.1109/ISIE.2017.8001473","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001473","url":null,"abstract":"The spread of smart meters means that a large amount of power demand information from private houses is being collected around the world. Owing to the development of smart city infrastructure, the use of standardized frameworks for extracting features from power demand information has become vital. In this paper, we propose a novel decomposition approach useful for extracting feature values from power demand information from a house. Energy consumption was monitored for multiple houses for one month in Japan with a sampling duration of 30 minutes, which is a standard sampling time of smart meters in Japan. First, periodic characteristics were detected for 24 hours based on autocorrelation analysis. Then, the monitored information was decomposed into four components: standby power, trends, and periodic and residual parts. The distribution of the residual part is similar to a Gaussian distribution, so the behavior of the residual part was parameterized using variance and average. Trend, periodic, and residual components were clustered by means of k-means clustering in order to aggregate the difference in behaviors. There was no periodic component in the residual part according to auto-correlation analysis. Nevertheless, some clusters had a relatively large variance, which means that abnormal power demand occurred frequently in datasets. The amount of variance and climate correlation was analyzed, and the fact detected that large scale events disturb usual daily life-styles, from the viewpoint of energy usage. Last, these features were compared with actual customer information. In the evaluation, family structure and floor space were utilized to prove the effectiveness of the proposed decomposition approach. The evaluation proved that this decomposition method could extract uncertainty features from power demand information.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"148 1","pages":"1535-1540"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88651329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001550
Kouta Yokoyama, T. Shimono, T. Mizoguchi, A. Zignoli, K. Ohnishi
Recently in Japan, increase in necessity of nursing care with elderly society has been problematic. Transfer task of a person in need of nursing care is one of the heavy load for care-worker. Additionally, the problem of the privacy protection for the disability in the private space such as a toilet and bath is a serious issue. Therefore, the aim of this research is to develop the transfer support robot which enables to promote the independence of the disability in the private space. In this paper, as the first step of the realization, the necessary movements and controls are clarified. The newly-designed variable compliance control method is proposed. In the proposed method, compliance control is applied to the position control based control system. The stiffness of the robot changes smoothly based on the information of disturbance force caused by human motion and weight. It means that safety cooperative work is possible even when humans perform irregular movements. By the proposed method, when a disturbance force occurs downward direction due to a human weight, the robot has highly stiffness value. When a disturbance force occurs upward direction due to a human motion, the robot has lowly stiffness value. The validity of the proposed method was confirmed by simulation and experiment using a 2-link manipulator imitate the transfer support robot.
{"title":"Variable compliance control for transfer support robot","authors":"Kouta Yokoyama, T. Shimono, T. Mizoguchi, A. Zignoli, K. Ohnishi","doi":"10.1109/ISIE.2017.8001550","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001550","url":null,"abstract":"Recently in Japan, increase in necessity of nursing care with elderly society has been problematic. Transfer task of a person in need of nursing care is one of the heavy load for care-worker. Additionally, the problem of the privacy protection for the disability in the private space such as a toilet and bath is a serious issue. Therefore, the aim of this research is to develop the transfer support robot which enables to promote the independence of the disability in the private space. In this paper, as the first step of the realization, the necessary movements and controls are clarified. The newly-designed variable compliance control method is proposed. In the proposed method, compliance control is applied to the position control based control system. The stiffness of the robot changes smoothly based on the information of disturbance force caused by human motion and weight. It means that safety cooperative work is possible even when humans perform irregular movements. By the proposed method, when a disturbance force occurs downward direction due to a human weight, the robot has highly stiffness value. When a disturbance force occurs upward direction due to a human motion, the robot has lowly stiffness value. The validity of the proposed method was confirmed by simulation and experiment using a 2-link manipulator imitate the transfer support robot.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"93 1","pages":"1953-1958"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83804871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001404
Dylan Arnal, T. Murakami, T. Nozaki
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.
{"title":"Safe tremor suppression through arm movement control","authors":"Dylan Arnal, T. Murakami, T. Nozaki","doi":"10.1109/ISIE.2017.8001404","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001404","url":null,"abstract":"Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force hybrid control using the computed torque method. Results show the tremors attenuation capability but highlight a minor delay in the motion's transmission.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"487 1-2 1","pages":"1129-1134"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78135165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001584
R. Sebastián, R. Peña-Alzola, J. Quesada
Wind diesel power systems (WDPS) are isolated microgrids which combine diesel generators (DGs) with wind turbine generators (WTGs). The presented WDPS consists of a DG, a WTG, load and a low speed Flywheel Energy storage system (LS-FESS). First the dynamic models of the WDPS components are explained. Next, the LS-FESS active power control in the operation modes of Wind-Only (WO), where only the WTG supply active power, and Wind Diesel (WD), where both the DG and WTG supply active power, is described. The WDPS is simulated in WO mode facing load and wind power variations where the FESS is commanded to regulate the system frequency and in the transition from WO mode to WD mode to replace a supplying FESS with the DG, where the FESS makes possible a bumpless mode transition. The simulation results are given with graphs of the system frequency and voltage and active power in each component and the FESS-asynchronous machine variables: direct and quadrature currents, and speed.
{"title":"Simulation of a wind diesel power system with flywheel energy storage","authors":"R. Sebastián, R. Peña-Alzola, J. Quesada","doi":"10.1109/ISIE.2017.8001584","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001584","url":null,"abstract":"Wind diesel power systems (WDPS) are isolated microgrids which combine diesel generators (DGs) with wind turbine generators (WTGs). The presented WDPS consists of a DG, a WTG, load and a low speed Flywheel Energy storage system (LS-FESS). First the dynamic models of the WDPS components are explained. Next, the LS-FESS active power control in the operation modes of Wind-Only (WO), where only the WTG supply active power, and Wind Diesel (WD), where both the DG and WTG supply active power, is described. The WDPS is simulated in WO mode facing load and wind power variations where the FESS is commanded to regulate the system frequency and in the transition from WO mode to WD mode to replace a supplying FESS with the DG, where the FESS makes possible a bumpless mode transition. The simulation results are given with graphs of the system frequency and voltage and active power in each component and the FESS-asynchronous machine variables: direct and quadrature currents, and speed.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"37 1","pages":"2115-2120"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78965043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001282
Guo He, Yau-Tarng Juang, J. Tsai, Yun-You Lin, Shu-Mei Guo, L. Shieh, T. Tsai
The designs of optimal linear quadratic estimator and tracker for the linear continuous-time systems with unknown disturbances have been improved in this paper. Compared with the advanced robust control design methodologies developed in the literature, the proposed method significantly improves both the unknown input estimation and the servo performance for the systems subject to the unknown disturbances. The aforementioned design objective can be achieved due to the fact that the proposed approach ensures the relative stability in both the unknown input estimation and the servo performance from the theoretical point of view. Besides, based on the equivalent input disturbance principle developed in the literature, the proposed approach is applicable to the system with a class of mismatched input disturbances. Furthermore, the newly proposed unknown input estimation technique is able to extend the recently developed generalized optimal linear quadratic tracker for continuous-time systems with known disturbances to those with unknown disturbances.
{"title":"An effective optimal linear quadratic analog tracker for the system with unknown disturbances","authors":"Guo He, Yau-Tarng Juang, J. Tsai, Yun-You Lin, Shu-Mei Guo, L. Shieh, T. Tsai","doi":"10.1109/ISIE.2017.8001282","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001282","url":null,"abstract":"The designs of optimal linear quadratic estimator and tracker for the linear continuous-time systems with unknown disturbances have been improved in this paper. Compared with the advanced robust control design methodologies developed in the literature, the proposed method significantly improves both the unknown input estimation and the servo performance for the systems subject to the unknown disturbances. The aforementioned design objective can be achieved due to the fact that the proposed approach ensures the relative stability in both the unknown input estimation and the servo performance from the theoretical point of view. Besides, based on the equivalent input disturbance principle developed in the literature, the proposed approach is applicable to the system with a class of mismatched input disturbances. Furthermore, the newly proposed unknown input estimation technique is able to extend the recently developed generalized optimal linear quadratic tracker for continuous-time systems with known disturbances to those with unknown disturbances.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"22 1","pages":"412-417"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82132041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001401
T. Suhara, Hiromu Norizuki, Y. Uchimura
In this paper, the design of a control system with consideration of the packet loss and time delay in network-based control systems is proposed. Model-based control is effective in systems having a large delay in the communication path. However, performance may deteriorate if there is a modeling error. Therefore, to compensate for the packet loss and modeling error, a model error feedback system that does not include time delay is proposed. The proposed system is also evaluated using numerical simulations and experiments with model error and packet loss.
{"title":"Network-based control for a system with long time delay and packet losses","authors":"T. Suhara, Hiromu Norizuki, Y. Uchimura","doi":"10.1109/ISIE.2017.8001401","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001401","url":null,"abstract":"In this paper, the design of a control system with consideration of the packet loss and time delay in network-based control systems is proposed. Model-based control is effective in systems having a large delay in the communication path. However, performance may deteriorate if there is a modeling error. Therefore, to compensate for the packet loss and modeling error, a model error feedback system that does not include time delay is proposed. The proposed system is also evaluated using numerical simulations and experiments with model error and packet loss.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"12 1","pages":"1111-1116"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82229186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001548
Hiroki Kurumatani, S. Katsura
The paper presents a design method of a gallium-nitride high-electron-mobility-transistor (GaN-HEMT) based three level T-type neutral-point-clamped (NPC) inverter using a reverse-conducting mode of the GaN-HEMT. The GaN-HEMT provides high-frequency switching speed and the T-type inverter supports such switching by decreasing conduction loss and heat dissipation. The GaN-HEMT has two operation mode, an enhancement mode and the reverse-conducting mode. In the enhancement mode, resistance on the GaN-HEMT is controlled by gate-source voltage. The reverse-conducting mode appears when gate-source voltage is less than zero. This characteristic provides advantage on design of the T-type NPC inverter. Then, the paper shows that a normally-off inverter is easily attained by using the reverse-conducting mode. Verification of the designed-circuit is conducted by some validation.
{"title":"GaN-HEMT-based three level T-type NPC inverter using reverse-conducting mode in rectifying","authors":"Hiroki Kurumatani, S. Katsura","doi":"10.1109/ISIE.2017.8001548","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001548","url":null,"abstract":"The paper presents a design method of a gallium-nitride high-electron-mobility-transistor (GaN-HEMT) based three level T-type neutral-point-clamped (NPC) inverter using a reverse-conducting mode of the GaN-HEMT. The GaN-HEMT provides high-frequency switching speed and the T-type inverter supports such switching by decreasing conduction loss and heat dissipation. The GaN-HEMT has two operation mode, an enhancement mode and the reverse-conducting mode. In the enhancement mode, resistance on the GaN-HEMT is controlled by gate-source voltage. The reverse-conducting mode appears when gate-source voltage is less than zero. This characteristic provides advantage on design of the T-type NPC inverter. Then, the paper shows that a normally-off inverter is easily attained by using the reverse-conducting mode. Verification of the designed-circuit is conducted by some validation.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"36 1","pages":"1941-1946"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73514615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001439
Masahiro Yoshida, Tomoya Imanishi, H. Nishi
Recently, many electricity retailers have been aggregating consumer power demand information from smart meter infrastructure, and applications that utilize these data are widely studied. For example, the estimation of customers' background information using their power demand information has attracted much interest; this information can be utilized in the marketing field for background-targeted advertising. In order to utilize power demand information effectively, an appropriate feature extraction method must be applied. In this paper, appropriate data extraction methods specific to power demand information are proposed. In the experiment, power demand data for Kawasaki city were used, and 19 feature data were extracted using the proposed method. The utility of the extracted features was assessed through the performance of classification estimation for two background information types, family structure and floor space. The classification problems are solved by applying two typical machine-learning algorithms, the support vector machine and k-nearest neighbor. In particular, analysis of variance (ANOVA) was applied to the 19 feature data, which were ranked according to the F value. Then, the n (n = [1, 2, 19]) best feature data were used as the input step by step, and the score for each condition was computed to derive the best feature set. According to the results, some of the feature data were considered to be irrelevant, and the best feature data set was successfully selected. Furthermore, thee scores when raw data were input were also computed and compared with the scores when the best feature data set was used. As a result, the performance was better when using processed data instead of raw data.
{"title":"Feature extraction and background information detection method using power demand","authors":"Masahiro Yoshida, Tomoya Imanishi, H. Nishi","doi":"10.1109/ISIE.2017.8001439","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001439","url":null,"abstract":"Recently, many electricity retailers have been aggregating consumer power demand information from smart meter infrastructure, and applications that utilize these data are widely studied. For example, the estimation of customers' background information using their power demand information has attracted much interest; this information can be utilized in the marketing field for background-targeted advertising. In order to utilize power demand information effectively, an appropriate feature extraction method must be applied. In this paper, appropriate data extraction methods specific to power demand information are proposed. In the experiment, power demand data for Kawasaki city were used, and 19 feature data were extracted using the proposed method. The utility of the extracted features was assessed through the performance of classification estimation for two background information types, family structure and floor space. The classification problems are solved by applying two typical machine-learning algorithms, the support vector machine and k-nearest neighbor. In particular, analysis of variance (ANOVA) was applied to the 19 feature data, which were ranked according to the F value. Then, the n (n = [1, 2, 19]) best feature data were used as the input step by step, and the score for each condition was computed to derive the best feature set. According to the results, some of the feature data were considered to be irrelevant, and the best feature data set was successfully selected. Furthermore, thee scores when raw data were input were also computed and compared with the scores when the best feature data set was used. As a result, the performance was better when using processed data instead of raw data.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"99 1","pages":"1336-1341"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82213529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001511
Yuki Nagatsu, S. Katsura
This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance forces without enhancing the effect of the time-varying delay. Furthermore, the state variables estimated by the KFSO are combined with the equivalent elastic force feedback in the time-delay system in order to improve the stability. Although the robustness of conventional time-delay compensation methods deteriorate during disturbances, the proposed method can retain stability while maintaining the robustness without enhancing the noise effects caused by the time-varying delay. The proposed method is validated by experimental results.
{"title":"Kalman filter based equivalent elastic force feedback for time-delay compensation","authors":"Yuki Nagatsu, S. Katsura","doi":"10.1109/ISIE.2017.8001511","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001511","url":null,"abstract":"This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance forces without enhancing the effect of the time-varying delay. Furthermore, the state variables estimated by the KFSO are combined with the equivalent elastic force feedback in the time-delay system in order to improve the stability. Although the robustness of conventional time-delay compensation methods deteriorate during disturbances, the proposed method can retain stability while maintaining the robustness without enhancing the noise effects caused by the time-varying delay. The proposed method is validated by experimental results.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"4 1","pages":"1741-1746"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80382188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001403
Kenji Ogawa, K. Ohnishi, M. Ibrahim
This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.
{"title":"Robust force control with a novel gain tuning methodology based on the stable margin theory","authors":"Kenji Ogawa, K. Ohnishi, M. Ibrahim","doi":"10.1109/ISIE.2017.8001403","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001403","url":null,"abstract":"This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"49 1","pages":"1123-1128"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84790157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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