TY - JOUR
T1 - Disturbance observer for DC motor based on Savitzky-Golay filters and application to bilateral control
AU - Hazaz, Mehdi
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2021 The Institute of Electrical Engineers of Japan.
PY - 2021/3/1
Y1 - 2021/3/1
N2 - 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.
AB - 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.
KW - Disturbance observer
KW - Low-pass derivative filter
KW - Savitzky-Golay filter
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U2 - 10.1541/ieejjia.19005031
DO - 10.1541/ieejjia.19005031
M3 - Article
AN - SCOPUS:85101930655
VL - 10
SP - 227
EP - 235
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
SN - 2187-1094
IS - 2
ER -