TY - GEN
T1 - Improving the performance of Higher Order Disturbance Observers
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
AU - Sariyildiz, Emre
AU - Cattin, Davide
AU - Ohnishi, Kouhei
PY - 2012/6/4
Y1 - 2012/6/4
N2 - 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.
AB - 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.
KW - Disturbance observer
KW - Higher Order Disturbance Observer
KW - Position Control
KW - Servomechanism
UR - http://www.scopus.com/inward/record.url?scp=84861601545&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84861601545&partnerID=8YFLogxK
U2 - 10.1109/AMC.2012.6197033
DO - 10.1109/AMC.2012.6197033
M3 - Conference contribution
AN - SCOPUS:84861601545
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -