{"title":"单轮机器人扰动观测器Q滤波器设计的实验研究","authors":"Sangdeok Lee, Seul Jung","doi":"10.1109/AIM.2016.7576858","DOIUrl":null,"url":null,"abstract":"In this paper, experimental studies on designing Q filters in the disturbance observer (DOB) based motion control for balancing a one-wheel robot are presented. The robot is simply modeled as a second order system and the corresponding Q filters are designed to form a DOB control structure. Two Q-filters such as Q20 and Q31 are investigated and analyzed in a view point of disturbance rejection performance and sensor noise immunity. The performances of two Q filters are evaluated by realizing a DOB in the digital system for controlling the balance of a single-wheel mobile robot.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Experimental studies on Q filter design of a disturbance observer for a one-wheel robot\",\"authors\":\"Sangdeok Lee, Seul Jung\",\"doi\":\"10.1109/AIM.2016.7576858\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, experimental studies on designing Q filters in the disturbance observer (DOB) based motion control for balancing a one-wheel robot are presented. The robot is simply modeled as a second order system and the corresponding Q filters are designed to form a DOB control structure. Two Q-filters such as Q20 and Q31 are investigated and analyzed in a view point of disturbance rejection performance and sensor noise immunity. The performances of two Q filters are evaluated by realizing a DOB in the digital system for controlling the balance of a single-wheel mobile robot.\",\"PeriodicalId\":154457,\"journal\":{\"name\":\"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)\",\"volume\":\"39 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-07-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AIM.2016.7576858\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AIM.2016.7576858","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Experimental studies on Q filter design of a disturbance observer for a one-wheel robot
In this paper, experimental studies on designing Q filters in the disturbance observer (DOB) based motion control for balancing a one-wheel robot are presented. The robot is simply modeled as a second order system and the corresponding Q filters are designed to form a DOB control structure. Two Q-filters such as Q20 and Q31 are investigated and analyzed in a view point of disturbance rejection performance and sensor noise immunity. The performances of two Q filters are evaluated by realizing a DOB in the digital system for controlling the balance of a single-wheel mobile robot.
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