Disturbance Observer for DC Motor based on Savitzky-Golay Filters and Application to Bilateral Control

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: 2021/03/01

タイトル(英語): Disturbance Observer for DC Motor based on Savitzky-Golay Filters and Application to Bilateral Control

著者名: Mehdi Hazaz (Keio University), Toshiyuki Murakami (Keio University)

著者名(英語): Mehdi Hazaz (Keio University), Toshiyuki Murakami (Keio University)

キーワード: disturbance observer，Savitzky-Golay filter，low-pass derivative filter

要約(英語): This paper describes the implementation of a disturbance observer-based controller after Savitzky-Golay filters. The cutoff frequency is a bottleneck for the conventional disturbance observers in DC motors with position measurement. The measurement noise limits the cutoff frequency of the pseudo-derivative in the design of the conventional disturbance observers. This study proposes an implementation of a disturbance observer based on Savitzky-Golay filters to improve the performance in noisy conditions with respect to the cutoff frequency of the time derivative. The proposed method was verified through various numerical simulations and experiments, thereby demonstrating its applications in bilateral control.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 （2021） Special Issue Ⅰ on “Motion Control and its Related Technologies”　　Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 227-235 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/10/2/10_19005031/_article/-char/ja/