Improvement of disturbance suppression based on disturbance observer

Mariko Mizuochi, Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to conferencePaper

18 Citations (Scopus)

Abstract

This research focuses on improvement of disturbance suppression even under existence of observation noise. Disturbance observer is an effective tool to estimate and compensate disturbance. There is a problem, however, that it cannot accomplish desired disturbance suppression when a large observation noise exists. In this research, a method with which influence of disturbance can be suppressed greatly even with a large observation noise is proposed. The authors focus on an LPF used in velocity calculation. The method is proposed based on the analysis on the characteristics and mechanism of disturbance suppression in disturbance observer with a focus on its cut-off frequencies. In the method, the cut-off frequency of disturbance observer is set higher than that for velocity calculation. Validity of the proposal was confirmed in theoretical analysis, simulation, and experiments.

Original languageEnglish
Pages229-234
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Mizuochi, M., Tsuji, T., & Ohnishi, K. (2006). Improvement of disturbance suppression based on disturbance observer. 229-234. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631663