AMC26: High-performance DOb for robust position control
Fuente:
arXiv
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| Autore principale: | |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Accesso online: | |
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| _version_ | 1866908749541670912 |
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| author | Sariyildiz, Emre |
| author_facet | Sariyildiz, Emre |
| contents | This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_02560 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | AMC26: High-performance DOb for robust position control Sariyildiz, Emre Systems and Control Robotics This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb. |
| title | AMC26: High-performance DOb for robust position control |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2601.02560 |