Improving the performance of Higher Order Disturbance Observers: A position approach

Emre Sariyildiz, Davide Cattin, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

The disturbance observer (DOB) is a tool for the robust motion control and it is used to compensate the disturbances. In the design of the DOB' it is assumed that' the system disturbance is observed and compensated by the DOB in the range of its bandwidth. However' the whole bandwidth cannot be compensated by the DOB due to the dynamical characteristics of the disturbance observer's low pass filter (LPF). Higher Order Disturbance Observer (HODOB) is one of the fundamental tools to increase the performance of the DOB' even though it has some disadvantages. However' the performance analysis of HODOB has not been clearly reported yet. In this paper' analysis and design methods of the HODOB are presented by using a more general disturbance model. This general model gives more freedoms to design HODOB. Also the superiors of the position measurement based HODOB design are shown. Simulation and experimental results are given to show the validity of the proposed methods.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Keywords

  • Disturbance observer
  • Higher Order Disturbance Observer
  • Position Control
  • Servomechanism

ASJC Scopus subject areas

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

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  • Cite this

    Sariyildiz, E., Cattin, D., & Ohnishi, K. (2012). Improving the performance of Higher Order Disturbance Observers: A position approach. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197033] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197033