AMC26: High-performance DOb for robust position control

TL;DR

This paper introduces a high-performance disturbance observer (HPDOb) that enhances disturbance estimation accuracy and robustness in motion control systems by incorporating higher-order truncation error dynamics, validated through simulations and experiments.

Contribution

The paper presents a novel synthesis method for HPDOb that achieves first-order truncation error, surpassing conventional zero-order observers in accuracy and robustness.

Findings

HPDOb outperforms conventional DObs in disturbance estimation.

Simulation and experimental results confirm stability and improved performance.

The method effectively incorporates higher-order dynamics for better robustness.

Abstract

This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb.