TY - JOUR
T1 - An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression
AU - Muramatsu, Hisayoshi
AU - Katsura, Seiichiro
N1 - Funding Information:
Manuscript received September 26, 2017; revised December 12, 2017; accepted December 27, 2017. Date of publication February 9, 2018; date of current version October 3, 2018. This work was supported in part by JSPS KAKENHI. Paper no. TII-17-2219. (Corresponding author: Seiichiro Katsura.) The authors are with the Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan (e-mail: muramatsu@ katsura.sd.keio.ac.jp; katsura@sd.keio.ac.jp).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/10
Y1 - 2018/10
N2 - Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time-delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller and the DOB. Practical performances are validated in experiments using a multiaxis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time-delay element.
AB - Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time-delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller and the DOB. Practical performances are validated in experiments using a multiaxis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time-delay element.
KW - Adaptive control
KW - adaptive notch filter (ANF)
KW - disturbance observer (DOB)
KW - periodic disturbance
KW - time-delay element
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U2 - 10.1109/TII.2018.2804338
DO - 10.1109/TII.2018.2804338
M3 - Article
AN - SCOPUS:85041826065
SN - 1551-3203
VL - 14
SP - 4446
EP - 4456
JO - IEEE Transactions on Industrial Informatics
JF - IEEE Transactions on Industrial Informatics
IS - 10
M1 - 8288655
ER -