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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

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Figures

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

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