Mechanical (direct-drive) systems designed for high-speed and high-accuracy applications require control systems that eliminate the influence of disturbances like cogging forces and friction. One way to achieve additional disturbance rejection is to extend the usual (P(I)D) controller with a disturbance observer. There are two distinct ways to design, represent, and implement a disturbance observer, but in this paper it is shown that the one is a generalization of the other. A general systematic design procedure for disturbance observers that incorporates stability requirements is given. Furthermore, it is shown that a disturbance observer can be transformed into a classical feedback structure, enabling numerous well-known tools to be used for the design and analysis of disturbance observers. Using this feedback interpretation of disturbance observers, it will be shown that a disturbance observer based robot tracking controller can be constructed that is equivalent to a passivity based controller. By this equivalence not only stability proofs of the disturbance observer based controller are obtained, but it also provides more transparent controller parameter selection rules for the passivity based controller.
Skip Nav Destination
e-mail: E.Schrijver@wb.utwente.nl
e-mail: J.VanDijk@wb.utwente.nl
Article navigation
December 2002
Technical Papers
Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design
Erwin Schrijver,
e-mail: E.Schrijver@wb.utwente.nl
Erwin Schrijver
Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
Search for other works by this author on:
Johannes van Dijk
e-mail: J.VanDijk@wb.utwente.nl
Johannes van Dijk
Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
Search for other works by this author on:
Erwin Schrijver
Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
e-mail: E.Schrijver@wb.utwente.nl
Johannes van Dijk
Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
e-mail: J.VanDijk@wb.utwente.nl
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, July 2001; final revision, Nov. 2001. Associate Editor: E. A. Misawa.
J. Dyn. Sys., Meas., Control. Dec 2002, 124(4): 539-548 (10 pages)
Published Online: December 16, 2002
Article history
Received:
July 1, 2001
Revised:
November 1, 2001
Online:
December 16, 2002
Citation
Schrijver, E., and van Dijk, J. (December 16, 2002). "Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 539–548. https://doi.org/10.1115/1.1513570
Download citation file:
Get Email Alerts
Global-Position Tracking Control for Multi-Domain Bipedal Walking with Underactuation
J. Dyn. Sys., Meas., Control
Surge-Elimination Strategy for Aero-Engine Transient Control
J. Dyn. Sys., Meas., Control (July 2024)
Safe Reinforcement Learning-Based Balance Control for Multi-Cylinder Hydraulic Press
J. Dyn. Sys., Meas., Control (July 2024)
Integral Sliding Mode Disturbance Observer Based Preview Repetitive Control
J. Dyn. Sys., Meas., Control
Related Articles
Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback
J. Dyn. Sys., Meas., Control (March,2004)
Theory and Implementation of a Repetitive Robot Controller With Cartesian Trajectory Description
J. Dyn. Sys., Meas., Control (March,1996)
Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller
J. Dyn. Sys., Meas., Control (December,2002)
Adaptive Tracking Control of Linear Uncertain Mechanical Systems Subjected to Unknown Sinusoidal Disturbances
J. Dyn. Sys., Meas., Control (March,2003)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Accommodation and Stability of Alloying Elements in Amorphous Grain Boundaries of Zirconia
Zirconium in the Nuclear Industry: 20th International Symposium
Stability Analysis of a Partially Connected Feedback Neural Network
International Conference on Computer Engineering and Technology, 3rd (ICCET 2011)