Adaptive Observers for Reducing Effects of Unmeasurable Disturbances in Motion Control Systems

Keishi Shibayama; Valeri Kroumov; Hiroyuki Narihisa

doi:10.11499/sicep.2004.0_11_5

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_11_5

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Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Adaptive Observers for Reducing Effects of Unmeasurable Disturbances in Motion Control Systems

*Keishi Shibayama, Valeri Kroumov, Hiroyuki Narihisa

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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 11

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Abstract

This paper is concerned with a design methodology for adaptive disturbance observers. One advantage of the proposed design method is that the trade off between the command following and immeasurable disturbance suppression is made transparent in the control system design. This reduces the effort of obtaining a highly accurate system model.

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