Design of stable Unknown Input Estimator using Artificial Bee Colony Algorithm
Rin OKADA, Toshiyuki SATOH, Naoki Saito, Jun‐ya Nagase, Norihiko Saga · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2022
We propose an improved design method for Unknown-Input Estimator (UIE) using Artificial Bee Colony (ABC) Algorithm. The cost function used in the previous method had a problem that the evaluation criterion was indirect. In this paper, we propose a new cost function using the closed-loop transfer function from the disturbance to the control target output.