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

Mehdi Hazaz, Toshiyuki Murakami

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)227-235
ページ数9
ジャーナルIEEJ Journal of Industry Applications
10
2
DOI
出版ステータスPublished - 2021 3 1

ASJC Scopus subject areas

  • 自動車工学
  • エネルギー工学および電力技術
  • 機械工学
  • 産業および生産工学
  • 電子工学および電気工学

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