IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing Control of a Single-wheel Robot

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Author(s): Sang D. Lee ; Seul Jung
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2018
Conference Location: Singapore, Singapore, Singapore
Conference Date: 18 November 2018
Page(s): 42 - 47
ISBN (Electronic): 978-1-5386-9582-1
ISBN (USB): 978-1-5386-9581-4
DOI: 10.1109/ICARCV.2018.8581066
Regular:

Stabilization of the inverse model of the target system is a critical problem in a current disturbance observer (DOB) based control scheme. When the system is identified as a second order system... View More

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