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

Authors: Ashitosh D. Chavan; Kaliprasad A. Mahapatro; Prasheel V. Suryawanshi

Addresses: MIT Academy of Engineering, Alandi (D), Pune, India ' MIT Academy of Engineering, Alandi (D), Pune, India ' MIT Academy of Engineering, Alandi (D), Pune, India

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 and their derivatives for improved performance. The practical stability of the overall system is assured. The robustness is analysed for practical disturbances like backlash and friction. The effectiveness of the proposed strategy is experimentally validated for trajectory tracking in the presence of matched and mismatched disturbance.

Keywords: disturbance observer; sliding mode control; SMC; motion control; output tracking; industrial servo control; disturbances; backlash; friction; trajectory tracking; compensation.

DOI: 10.1504/IJAMECHS.2016.082626

International Journal of Advanced Mechatronic Systems, 2016 Vol.7 No.2, pp.93 - 103

Received: 09 Apr 2016
Accepted: 27 Sep 2016

Published online: 02 Mar 2017 *

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