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Disturbance observer(DOB) has been known as a simple robust control method to reject disturbances. Design of Q filters is considered as the most important design technique for the DOB design to compensate for the possible improperness of the inverse model of the plant as well as a non minimum phase. Many efforts on Q-filter design have been accomplished to realize a stable filter for the inverse of...
In this paper, experimental studies of bilateral teleoperation control of a quadrotor system are presented. Not only position control but force control of a quadrotor system is regulated by forming a force controlled loop. The contact force is measured by a load cell mounted on the top of the quadrotor system. The sensed force is used for a haptic device as an operator feels the force. This configuration...
This article presents the application of mobile inverted pendulum systems to design Boxingbots for robot boxing games. Intelligent control algorithms are applied to the Boxingbot whose structure is the mobile inverted pendulum robot with arms. The Boxingbot has the combined structure of a mobile robot and an inverted pendulum system. The reference compensation technique scheme is used for not only...
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