Velocity trajectory tracking control: an Adaptive Ohnishi’s Disturbance Observer approach

Velocity trajectory tracking control: an Adaptive Ohnishi’s Disturbance Observer approach

연구 분야: Software Development

학회: 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

The online estimation of the input gain in servo systems through an adaptive algorithm is carried out to design a Proportional controller equipped with a Disturbance Observer proposed by K. Ohnishi, to counteract constant perturbations affecting a servo system while executing velocity trajectory tracking tasks. This work relaxes the condition of knowing exactly the value of the input gain trough a Gradient update law plus projection, the latter precluding singularities in the control law. A stability analysis allows concluding that all the closed loop signals remain bounded and that the velocity tracking error converges to zero. The effectiveness of the proposed controller is assessed by performing real-time experiments on a laboratory prototype.