A Study on Servosystem Design with Effective Direct Disturbance Rejecting Technique

This paper presents an interference disturbance compensation method for the connected system. The disturbance is generated from the system motion such that it directly affects the relative motion. For example, in the robot system, the arm motions influence each other because the arms are connected in series. If we design a servosystem for controlling the robot motions including arm angle, the interference disturbance should be carefully considered. The reason for this is that it influences and works as the disturbance which degrades the tracking performance. Therefore, the authors developed a novel interference disturbance rejecting method by simple feedforward control strategy based on the framework of robust servosystem design. By applying the proposed method to a 2DOF robot system, its effectiveness was evaluated.