Application of a Disturbance Observer for a Relative Position Control System

Abstract

This paper presents an application of a disturbance observer for a relative position control system. In this system, since the prefixed motion profile is not defined <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ex ante</i> , the acceleration state which is generated based on the profile is also not available. Therefore, feedforward acceleration controls cannot be used, and the position control performance is restricted solely by the bandwidth of the position controller. To enhance the control performance, disturbance observers can be utilized actively. The proposed method considers the position reference just as the result of a disturbance. Therefore, the relative position control can be performed by a disturbance observer as well as a position controller. As a result, the position control performance of the proposed method has been enhanced by up to 30% compared with that of the conventional method. The feasibility of the proposed method has been verified by experimental results using a high-precision linear motion control system as well as by analysis based on Bode plots.