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

Emre Sariyildiz, Davide Cattin, Kouhei Ohnishi

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012 6月 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3月 252012 3月 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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