Disturbance Observer-Based Motion Control and Its Applications

Disturbance observer is applied in many industry applications. This paper focuses on the disturbance observer-based motion control and its industry applications. The first section describes the disturbance observer-based anti-slip adhesion control system, which is applied to the actual commuter train. The second section describes the load-side acceleration control for the robot actuator by using both the one-inertia nominalization control and the acceleration bias drift observer. The one-inertia nominalization control transforms the two-mass resonant system such as geared motor into the equivalent one-inertia system and suppresses the resonant vibration phenomenon. The third section describes the quick and simple feedforward torque compensation based on instantaneous state observer with an acceleration sensor for industrial robots. In the third section, to reduce the measurement noise of the acceleration sensor, the third section proposes a new Variable noise-covariance Kalman Filter-based instantaneous state observer and a new Singular-Spectrum-Analysis-based instantaneous state observer.