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The effectiveness of the disturbance observer-based controller for fault-tolerant servo systems against sensor failures
センサ故障に対する耐故障サーボ系における外乱オブザーバ構造の有効性
2020
センサ故障に対する耐故障サーボ系における外乱オブザーバ構造の有効性
Preserved Fulltext
This paper investigates the effectiveness of the disturbance observer-based controller for faulttolerant servo control against sensor failures. Due to plant uncertainties and sensor gain fluctuation, it is impossible to achieve servo performance with a single controller. However, the deactivation of the compensation inputs from the disturbance observer-based controller recovers the servo performance. A numerical example demonstrates the effectiveness of the disturbance observer-based controller.
doi:10.11511/jacc.63.0_949
fatcat:nubfgjas7neblhrcyqlh5hnyq4