Improvement of disturbance suppression based on disturbance observer

Mizuochi, Mariko; Tsuji, Toshiaki; Ohnishi, Kouhei

doi:10.1109/amc.2006.1631663

Cited by 16 publications

(13 citation statements)

References 9 publications

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“…Therefore, it is important to estimate only the torque applied to the mobile robot due to the object being pushed. For that, reaction torque observer used to calculateonly the external forces [4].…”

Section: Modellingmentioning

confidence: 99%

Sensorless contact position estimation of a mobile robot in pushing motion

Dayarathna

Prabuddha

Ariyawansha

et al. 2013

2013 International Conference on Circuits, Power and Computing Technologies (ICCPCT)

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Section: Modellingmentioning

confidence: 99%

Sensorless contact position estimation of a mobile robot in pushing motion

Dayarathna

Prabuddha

Ariyawansha

et al. 2013

2013 International Conference on Circuits, Power and Computing Technologies (ICCPCT)

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“…The characteristics of the LPF can be improved by using the higher order low pass filters. The DOB that uses higher order low pass filter is called as Higher Order Disturbance Observer (HODOB) in the literature [13]. Therefore HODOB is a very important tool to improve the performance of the DOB.…”

Section: Introductionmentioning

confidence: 99%

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

Sarıyıldız

Cattin

Ohnishi

2012

2012 12th IEEE International Workshop on Advanced Motion Control (AMC)

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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.

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“…Theoretical and experimental studies show that the system's disturbance resistance robustness can be improved greatly by using disturbance observers [6][7][8]. Lin and Hsiao [1] proposed a multilayer feedforward neural network to realize the non-linear adaptive feedforward controller for friction disturbance torque rejection.…”

Section: Introductionmentioning

confidence: 99%

Simulation study on a friction compensation method for the inertial platform based on the disturbance observer

Zhao

2008

Proceedings of the Institution of Mechanical Engineers, Part G:

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Friction is one of the key disturbances in an inertial platform, which can degrade its performance heavily. Compensation of friction disturbance should be considered while designing a controller for the inertial platform. In this article, the disturbance observer (DOB) is introduced to compensate for the friction disturbance for inertial platform. The problem of parameter optimization, which is the main issue in the DOB design, is also solved according to the performance index called integrals of square error. A non-linear friction model including static, Coulomb, and viscous frictions as well as Stribeck effect is built and considered as the friction disturbance of the inertial platform in this simulation study. The simulation results show that the friction disturbance can be suppressed effectively by the DOB method.

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Improvement of disturbance suppression based on disturbance observer

Cited by 16 publications

References 9 publications

Sensorless contact position estimation of a mobile robot in pushing motion

Sensorless contact position estimation of a mobile robot in pushing motion

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

Simulation study on a friction compensation method for the inertial platform based on the disturbance observer

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