Design of an Infinite-Order Disturbance Observer Enhancing Disturbance Suppression Performance

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2017/05/01

タイトル(英語): Design of an Infinite-Order Disturbance Observer Enhancing Disturbance Suppression Performance

著者名: Hisayoshi Muramatsu (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

著者名(英語): Hisayoshi Muramatsu (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

キーワード: periodic disturbance，disturbance observer，infinite-order disturbance observer，time-delay element

要約(英語): This paper presents the design of an infinite-order disturbance observer (IFDOB) to suppress disturbances including a periodic disturbance. An IFDOB includes the dynamics of a periodic disturbance to suppress it. However, a conventional IFDOB finds it difficult to suppress disturbances in the low-frequency domain. In contrast, a disturbance observer (DOB) can suppress disturbances in the low-frequency domain, however, it has difficulty suppressing a periodic disturbance. Therefore, this paper proposes a designed IFDOB that can suppress both a periodic disturbance and low-frequency disturbances. The proposed method is constructed by designing parameter γ of an IFDOB considering sensitivity and complementary sensitivity functions. Simulations were conducted, and the validity of the proposed method in a practical system was confirmed by experiments using a multi-axis manipulator.

本誌: IEEJ Journal of Industry Applications Vol.6 No.3 （2017）

本誌掲載ページ: 192-198 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/6/3/6_192/_article/-char/ja/