Design of an infinite-order disturbance observer enhancing disturbance suppression performance

Hisayoshi Muramatsu, Seiichiro Katsura

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

This paper presents the design of an infinite-order disturbance observer (IFDOB) to suppress disturbances including a periodic disturbance. An IFDOB includes the dynamics of a periodic disturbance to suppress it. However, a conventional IFDOB finds it difficult to suppress disturbances in the low-frequency domain. In contrast, a disturbance observer (DOB) can suppress disturbances in the low-frequency domain, however, it has difficulty suppressing a periodic disturbance. Therefore, this paper proposes a designed IFDOB that can suppress both a periodic disturbance and low-frequency disturbances. The proposed method is constructed by designing parameter γ of an IFDOB considering sensitivity and complementary sensitivity functions. Simulations were conducted, and the validity of the proposed method in a practical system was confirmed by experiments using a multi-axis manipulator.

Original languageEnglish
Pages (from-to)192-198
Number of pages7
JournalIEEJ Journal of Industry Applications
Volume6
Issue number3
DOIs
Publication statusPublished - 2017

Fingerprint

Manipulators
Experiments

Keywords

  • Disturbance observer
  • Infinite-order disturbance observer
  • Periodic disturbance
  • Time-delay element

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Design of an infinite-order disturbance observer enhancing disturbance suppression performance. / Muramatsu, Hisayoshi; Katsura, Seiichiro.

In: IEEJ Journal of Industry Applications, Vol. 6, No. 3, 2017, p. 192-198.

Research output: Contribution to journalArticle

@article{c16cde859756448f83c1ee0ded8784c2,
title = "Design of an infinite-order disturbance observer enhancing disturbance suppression performance",
abstract = "This paper presents the design of an infinite-order disturbance observer (IFDOB) to suppress disturbances including a periodic disturbance. An IFDOB includes the dynamics of a periodic disturbance to suppress it. However, a conventional IFDOB finds it difficult to suppress disturbances in the low-frequency domain. In contrast, a disturbance observer (DOB) can suppress disturbances in the low-frequency domain, however, it has difficulty suppressing a periodic disturbance. Therefore, this paper proposes a designed IFDOB that can suppress both a periodic disturbance and low-frequency disturbances. The proposed method is constructed by designing parameter γ of an IFDOB considering sensitivity and complementary sensitivity functions. Simulations were conducted, and the validity of the proposed method in a practical system was confirmed by experiments using a multi-axis manipulator.",
keywords = "Disturbance observer, Infinite-order disturbance observer, Periodic disturbance, Time-delay element",
author = "Hisayoshi Muramatsu and Seiichiro Katsura",
year = "2017",
doi = "10.1541/ieejjia.6.192",
language = "English",
volume = "6",
pages = "192--198",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "3",

}

TY - JOUR

T1 - Design of an infinite-order disturbance observer enhancing disturbance suppression performance

AU - Muramatsu, Hisayoshi

AU - Katsura, Seiichiro

PY - 2017

Y1 - 2017

N2 - This paper presents the design of an infinite-order disturbance observer (IFDOB) to suppress disturbances including a periodic disturbance. An IFDOB includes the dynamics of a periodic disturbance to suppress it. However, a conventional IFDOB finds it difficult to suppress disturbances in the low-frequency domain. In contrast, a disturbance observer (DOB) can suppress disturbances in the low-frequency domain, however, it has difficulty suppressing a periodic disturbance. Therefore, this paper proposes a designed IFDOB that can suppress both a periodic disturbance and low-frequency disturbances. The proposed method is constructed by designing parameter γ of an IFDOB considering sensitivity and complementary sensitivity functions. Simulations were conducted, and the validity of the proposed method in a practical system was confirmed by experiments using a multi-axis manipulator.

AB - This paper presents the design of an infinite-order disturbance observer (IFDOB) to suppress disturbances including a periodic disturbance. An IFDOB includes the dynamics of a periodic disturbance to suppress it. However, a conventional IFDOB finds it difficult to suppress disturbances in the low-frequency domain. In contrast, a disturbance observer (DOB) can suppress disturbances in the low-frequency domain, however, it has difficulty suppressing a periodic disturbance. Therefore, this paper proposes a designed IFDOB that can suppress both a periodic disturbance and low-frequency disturbances. The proposed method is constructed by designing parameter γ of an IFDOB considering sensitivity and complementary sensitivity functions. Simulations were conducted, and the validity of the proposed method in a practical system was confirmed by experiments using a multi-axis manipulator.

KW - Disturbance observer

KW - Infinite-order disturbance observer

KW - Periodic disturbance

KW - Time-delay element

UR - http://www.scopus.com/inward/record.url?scp=85018443798&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85018443798&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.6.192

DO - 10.1541/ieejjia.6.192

M3 - Article

AN - SCOPUS:85018443798

VL - 6

SP - 192

EP - 198

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 3

ER -