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In this paper, the application of the Sliding Mode Theory, in terms of observer and control design, to the DC-DC Single-Ended Primary Inductor Converter (SEPIC) is investigated. The choice and influence of the sliding surface regarding the state vector is presented. Usual sliding surfaces chosen to control other high order DC-DC converters are found not to work on the SEPIC. Thus, other surfaces are...
In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened,...
This paper discusses novel structure of communication disturbance observer (CDOB) to deal with time delayed controlled system. CDOB works based on the concept of network disturbance which considers the effect caused by time delay as one kind of force disturbance and estimate its value using disturbance observer (DOB). From estimated network disturbance force, time delay is compensated to maintain...
A robust yaw stability control design based on active steering control is proposed for electric vehicles with in-wheel motors. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer (SA-DOB) which rejects an input steering disturbance and an output yaw disturbance simultaneously by feeding a compensation steering angle) and an...
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