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 publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

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

Fingerprint

Disturbance Observer
Higher Order
Bandwidth
Position measurement
Low pass filters
Motion control
Robust control
Disturbance
Observer Design
Low-pass Filter
Motion Control
Robust Control
Design Method
Performance Analysis

Keywords

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

ASJC Scopus subject areas

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

Cite this

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

Improving the performance of Higher Order Disturbance Observers : A position approach. / Sariyildiz, Emre; Cattin, Davide; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197033.

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

Sariyildiz, E, Cattin, D & Ohnishi, K 2012, Improving the performance of Higher Order Disturbance Observers: A position approach. in International Workshop on Advanced Motion Control, AMC., 6197033, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197033
Sariyildiz E, Cattin D, Ohnishi K. Improving the performance of Higher Order Disturbance Observers: A position approach. In International Workshop on Advanced Motion Control, AMC. 2012. 6197033 https://doi.org/10.1109/AMC.2012.6197033
Sariyildiz, Emre ; Cattin, Davide ; Ohnishi, Kouhei. / Improving the performance of Higher Order Disturbance Observers : A position approach. International Workshop on Advanced Motion Control, AMC. 2012.
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