Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System
Disturbance-observer-based control (DOBC) methods are developed to approximate the closed-loop behavior of dynamic systems to the nominal system response determined during the design phase. In the literature, many different approaches have been derived for similar purposes. This paper presents a com...
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/11079558/ |
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| author | Mucahid Ridvan Kaplan Burak Kurkcu Mehmet Onder Efe Zeki Yagiz Bayraktaroglu |
| author_facet | Mucahid Ridvan Kaplan Burak Kurkcu Mehmet Onder Efe Zeki Yagiz Bayraktaroglu |
| author_sort | Mucahid Ridvan Kaplan |
| collection | DOAJ |
| description | Disturbance-observer-based control (DOBC) methods are developed to approximate the closed-loop behavior of dynamic systems to the nominal system response determined during the design phase. In the literature, many different approaches have been derived for similar purposes. This paper presents a comprehensive experimental evaluation of notable DOBC structures, conducted in both a simulation environment with a comparative analysis and in real-time experiments. Unlike previous studies, which predominantly focus on theoretical analysis or simulation-based assessments, this study provides a systematic experimental comparison of DOBC methods implemented on a gimbal platform, offering insights into their practical performance. For this purpose, the mathematical representations of the DOBC methods have been rearranged in an application-oriented framework and employed for high-precision control of a gimbal platform. A dedicated simulation environment has been established to enable a proper comparison of the proposed DOBC methods in terms of applicability and performance evaluations, considering well-defined and measurable metrics within the experimental setup. The control system designs based on the methods evaluated in this paper were carried out in line with the original studies as originally suggested. The results of the investigation are interpreted using both time- and frequency-domain metrics, highlighting the practical implications of DOBC methods in real-world applications. |
| format | Article |
| id | doaj-art-e4abfcbd4cb4489681a852c7eda04bff |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-e4abfcbd4cb4489681a852c7eda04bff2025-08-20T03:31:46ZengIEEEIEEE Access2169-35362025-01-011312344012345910.1109/ACCESS.2025.358859511079558Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal SystemMucahid Ridvan Kaplan0https://orcid.org/0000-0002-0520-2416Burak Kurkcu1https://orcid.org/0000-0002-0828-4234Mehmet Onder Efe2https://orcid.org/0000-0002-5992-895XZeki Yagiz Bayraktaroglu3https://orcid.org/0000-0001-5539-9504Control Systems Design Department, Aselsan Inc., Akyurt, Ankara, TürkiyeDepartment of Electrical and Computer Engineering, Santa Clara University, Santa Clara, CA, USADepartment of Computer Engineering, Hacettepe University, Ankara, TürkiyeDepartment of Mechanical Engineering, Istanbul Technical University, Beyoğlu, Istanbul, TürkiyeDisturbance-observer-based control (DOBC) methods are developed to approximate the closed-loop behavior of dynamic systems to the nominal system response determined during the design phase. In the literature, many different approaches have been derived for similar purposes. This paper presents a comprehensive experimental evaluation of notable DOBC structures, conducted in both a simulation environment with a comparative analysis and in real-time experiments. Unlike previous studies, which predominantly focus on theoretical analysis or simulation-based assessments, this study provides a systematic experimental comparison of DOBC methods implemented on a gimbal platform, offering insights into their practical performance. For this purpose, the mathematical representations of the DOBC methods have been rearranged in an application-oriented framework and employed for high-precision control of a gimbal platform. A dedicated simulation environment has been established to enable a proper comparison of the proposed DOBC methods in terms of applicability and performance evaluations, considering well-defined and measurable metrics within the experimental setup. The control system designs based on the methods evaluated in this paper were carried out in line with the original studies as originally suggested. The results of the investigation are interpreted using both time- and frequency-domain metrics, highlighting the practical implications of DOBC methods in real-world applications.https://ieeexplore.ieee.org/document/11079558/Disturbance observerestimationgimbalobserverperformancerobustness |
| spellingShingle | Mucahid Ridvan Kaplan Burak Kurkcu Mehmet Onder Efe Zeki Yagiz Bayraktaroglu Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System IEEE Access Disturbance observer estimation gimbal observer performance robustness |
| title | Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System |
| title_full | Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System |
| title_fullStr | Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System |
| title_full_unstemmed | Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System |
| title_short | Comparative Study of Disturbance Observer-Based Control Methods on an Industrial Gimbal System |
| title_sort | comparative study of disturbance observer based control methods on an industrial gimbal system |
| topic | Disturbance observer estimation gimbal observer performance robustness |
| url | https://ieeexplore.ieee.org/document/11079558/ |
| work_keys_str_mv | AT mucahidridvankaplan comparativestudyofdisturbanceobserverbasedcontrolmethodsonanindustrialgimbalsystem AT burakkurkcu comparativestudyofdisturbanceobserverbasedcontrolmethodsonanindustrialgimbalsystem AT mehmetonderefe comparativestudyofdisturbanceobserverbasedcontrolmethodsonanindustrialgimbalsystem AT zekiyagizbayraktaroglu comparativestudyofdisturbanceobserverbasedcontrolmethodsonanindustrialgimbalsystem |