Disturbance observer for DC motor based on Savitzky-Golay filters and application to bilateral control

Mehdi Hazaz, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

Abstract

This paper describes the implementation of a disturbance observer-based controller after Savitzky-Golay filters. The cutoff frequency is a bottleneck for the conventional disturbance observers in DC motors with position measurement. The measurement noise limits the cutoff frequency of the pseudo-derivative in the design of the conventional disturbance observers. This study proposes an implementation of a disturbance observer based on Savitzky-Golay filters to improve the performance in noisy conditions with respect to the cutoff frequency of the time derivative. The proposed method was verified through various numerical simulations and experiments, thereby demonstrating its applications in bilateral control.

Original languageEnglish
Pages (from-to)227-235
Number of pages9
JournalIEEJ Journal of Industry Applications
Volume10
Issue number2
DOIs
Publication statusPublished - 2021 Mar 1

Keywords

  • Disturbance observer
  • Low-pass derivative filter
  • Savitzky-Golay filter

ASJC Scopus subject areas

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

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