Yan, Y;
Sun, Z;
Yang, J;
Li, S;
(2018)
A Guide for Gain Tuning of Disturbance Observer: Balancing Disturbance Estimation and Noise Suppression.
In:
2018 IEEE Conference on Control Technology and Applications, CCTA 2018.
(pp. pp. 1558-1563).
IEEE: Copenhagen, Denmark.
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Abstract
This paper presents a general guideline for gain tuning of nonlinear disturbance observer (DO). Receding-horizon optimization based upon a performance index including both disturbance estimation and noise suppression, is adopted. The proposed approach mainly exhibits the following two attractive features. First, an explicitly analytical form of DO gains with the weights in the performance index is given; thus, real-time tuning is available. Second, with the intention of optimization, stability and robustness of the estimation error system is guaranteed. The proposed method is illustrated by an application to the position control of a motor servo system.
| Type: | Proceedings paper |
|---|---|
| Title: | A Guide for Gain Tuning of Disturbance Observer: Balancing Disturbance Estimation and Noise Suppression |
| Event: | 2018 IEEE Conference on Control Technology and Applications (CCTA) |
| Dates: | 21 Aug 2018 - 24 Aug 2018 |
| ISBN-13: | 9781538676981 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/CCTA.2018.8511351 |
| Publisher version: | http://dx.doi.org/10.1109/ccta.2018.8511351 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Optimization, Tuning, Estimation error, Noise reduction, Stability criteria |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10192303 |
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