Title :
A novel disturbance observer using adaptive observation and time delay estimation in discrete time systems
Author :
Kim, Sung-Hwan ; Kim, Kyung-soo ; Kim, Soohyun
Author_Institution :
Dept. of Mech. Eng., KAIST, Daejeon, South Korea
Abstract :
In the note, a novel disturbance observer capable of both abrupt disturbances and general disturbance having bounded bandwidth is proposed. Initiated from an adaptive disturbance observation, we enhanced the estimation property to cope with abrupt disturbance and bounded bandwidth disturbances. The generalized form of disturbance observer is derived on the state space. To estimate the abrupt disturbance efficiently, time delay estimation is combined with adaptive estimation method. In addition, for a class of linear systems, its potential applicability will be demonstrated by a numerical simulation.
Keywords :
adaptive control; delays; discrete time systems; estimation theory; numerical analysis; observers; adaptive estimation method; adaptive observation; bounded bandwidth; bounded bandwidth disturbances; discrete time systems; estimation property; novel disturbance observer; numerical simulation; time delay estimation; Delay effects; Estimation error; Noise; Noise measurement; Observers; Robots; Disturbance observer; discrete system; friction observer; state estimation; time delay estimation;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8