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

Hisayoshi Muramatsu, Seiichiro Katsura

Research output: Contribution to journalArticle

8 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

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

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