{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/an-adaptive-periodic-disturbance-observer-for","title":"An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression","arxiv_id":"2004.00487","date":"2020-04-01","proceeding":null,"authors":["Hisayoshi Muramatsu","Seiichiro Katsura"],"abstract":"Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter (ANF) is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller (RC) and the DOB. Practical performances are validated in experiments using a multi-axis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time delay element.","url_abs":"https://arxiv.org/abs/2004.00487v2","url_pdf":"https://arxiv.org/pdf/2004.00487v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"an-adaptive-periodic-disturbance-observer-for","repo_url":"https://github.com/HisayoshiMuramatsu/APDOB","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"an-adaptive-periodic-disturbance-observer-for","repo_url":"https://github.com/HisayoshiMuramatsu/PDOB","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}