@inproceedings{0428038dd5664f07a4fd85781ec9b8b4,
title = "Velocity trajectory tracking control: An Adaptive Ohnishi's Disturbance Observer approach",
abstract = "The online estimation of the input gain in servo systems through an adaptive algorithm is carried out to design a Proportional controller equipped with a Disturbance Observer proposed by K. Ohnishi, to counteract constant perturbations affecting a servo system while executing velocity trajectory tracking tasks. This work relaxes the condition of knowing exactly the value of the input gain trough a Gradient update law plus projection, the latter precluding singularities in the control law. A stability analysis allows concluding that all the closed loop signals remain bounded and that the velocity tracking error converges to zero. The effectiveness of the proposed controller is assessed by performing real-Time experiments on a laboratory prototype.",
keywords = "Disturbance observer, PD control, adaptive control, controller tuning, servo system",
author = "Luis Luna and Erick Asiain and Ruben Garrido and Mario Lopez",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020 ; Conference date: 11-11-2020 Through 13-11-2020",
year = "2020",
month = nov,
day = "11",
doi = "10.1109/CCE50788.2020.9299120",
language = "Ingl{\'e}s",
series = "2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020",
address = "Estados Unidos",
}