Stability and Robustness of Disturbance-Observer-Based Motion Control Systems

By Emre Sariyildiz, Kouhei Ohnishi. IEEE transactions on industrial electronics (1982. Print), 2019

294 citations recorded by the source corpus.

This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB)-based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is obtained without using a low-pass filter (LPF); however, it is impractical due to noise constraints. An LPF of velocity measurement changes the robustness of a DOB significantly and puts a new design constraint on the bandwidth of a DOB. An RTOB, which is used to estimate environmental impedance, is an application of a DOB. The stability of an RTOB-based robust force control system has not been reported yet since its oversimplified model is derived by assuming that an RTOB has a feedforward control structure. However, in reality, it has a feedback control structure; therefore, not only the performance but also the stability is affected by the design parameters of an RTOB. A new practical stability analysis method is proposed for an RTOB-based robust force control system. In addition to that, novel and practical design methods, which improve the robustness of a DOB and the stability and performance of an RTOB-based robust force control system, are proposed by using the new analysis methods. The validity of the proposals is verified by simulation and experimental results.

Subfields: Control and Systems Engineering, Mechanical Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/e601bbc2ebe0d57b527f7aafb326ba42cfff082c

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

1. Kouhei Ohnishi
2. Emre Sariyildiz
3. Roberto Oboe

In Mechanical Engineering

1. Kouhei Ohnishi
2. Emre Sariyildiz
3. Roberto Oboe

In Ocean Engineering

1. Kouhei Ohnishi
2. Emre Sariyildiz
3. Roberto Oboe

Citations in the corpus

• Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview (2019, background): “The conventional ADR controller has several limitations in practice [59]–[62].”