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Robust output tracking using disturbance observer with application to industrial servo control

Robust output tracking using disturbance observer with application to industrial servo control This paper proposes a robust strategy for output tracking in industrial motion control using disturbance observer (DO). The control scheme uses a sliding mode control (SMC) augmented by the estimates of disturbances. The SMC proposed here compensates matched as well as mismatched disturbances. The DO is used to estimate the disturbances their derivatives for improved performance. The practical stability of the overall system is assured. The robustness is analysed for practical disturbances like backlash friction. The effectiveness of the proposed strategy is experimentally validated for trajectory tracking in the presence of matched mismatched disturbance. Keywords: disturbance observer; sliding mode control; SMC; motion control; output tracking. Reference to this paper should be made as follows: Chavan, A.D., Mahapatro, K.A. Suryawanshi, P.V. (2016) `Robust output tracking using disturbance observer with application to industrial servo control', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.93­103. Biographical notes: Ashitosh D. Chavan is a Masters student at the MIT Academy of Engineering, Ali , Pune, India. His research interests include robust control, motion control embedded system. He has published papers in a number of international conferences. Kaliprasad A. Mahapatro is an Assistant Professor at the MIT Academy of Engineering, Ali , Pune, http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Robust output tracking using disturbance observer with application to industrial servo control

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Publisher
Inderscience Publishers
Copyright
Copyright © 2016 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2016.082626
Publisher site
See Article on Publisher Site

Abstract

This paper proposes a robust strategy for output tracking in industrial motion control using disturbance observer (DO). The control scheme uses a sliding mode control (SMC) augmented by the estimates of disturbances. The SMC proposed here compensates matched as well as mismatched disturbances. The DO is used to estimate the disturbances their derivatives for improved performance. The practical stability of the overall system is assured. The robustness is analysed for practical disturbances like backlash friction. The effectiveness of the proposed strategy is experimentally validated for trajectory tracking in the presence of matched mismatched disturbance. Keywords: disturbance observer; sliding mode control; SMC; motion control; output tracking. Reference to this paper should be made as follows: Chavan, A.D., Mahapatro, K.A. Suryawanshi, P.V. (2016) `Robust output tracking using disturbance observer with application to industrial servo control', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.93­103. Biographical notes: Ashitosh D. Chavan is a Masters student at the MIT Academy of Engineering, Ali , Pune, India. His research interests include robust control, motion control embedded system. He has published papers in a number of international conferences. Kaliprasad A. Mahapatro is an Assistant Professor at the MIT Academy of Engineering, Ali , Pune,

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2016

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