The Optimal Astatic Observer for the Identification of Disturbances in Electric Drives of Robotic Systems

The article considers the problem of constructing a system for identifying disturbing influences in electric drives of robotic systems. An approach based on the use of optimal observers is used to solve it. This avoids the disadvantages of other identification methods, such as the need for high-frequency switching of sliding observers. Optimal observers are proposed to be built on the basis of special reduced models of the initial system, which simplifies their implementation. Using a special procedure for synthesizing an observer, it is also possible to give it the property of astatism and eliminate the static error in determining the magnitude of the disturbance. The effectiveness of the proposed system was confirmed by computer simulation.