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TECHNICAL PAPERS

Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design

[+] Author and Article Information
Erwin Schrijver, Johannes van Dijk

Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands

J. Dyn. Sys., Meas., Control 124(4), 539-548 (Dec 16, 2002) (10 pages) doi:10.1115/1.1513570 History: Received July 01, 2001; Revised November 01, 2001; Online December 16, 2002
Copyright © 2002 by ASME
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References

Figures

Grahic Jump Location
Disturbance estimating filter
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Disturbance observer combined with a controller
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Equivalent form of the disturbance observer
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Feedback interpretation of the disturbance observer
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Unknown input disturbance observer (UIDO)
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Analogy of DEF and UIDO  
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Disturbance observer for a robot manipulator
Grahic Jump Location
Disturbance observer represented in feedback form

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