Dual‐channel observer design for composite disturbances based on characteristic compensation

This paper presents a non‐coupled structure of characteristic compensation dual‐channel observer (CCDCO) for handling systems subjected to composite disturbances. There exist an outer disturbance compensation channel (ODCC) and an inner disturbance compensation channel (IDCC) in the design strategy. Specifically, in the ODCC, the proposed frequency characteristic compensation observer (FCCO) extracts and removes the regular periodic components from the composite disturbances, where the estimation error preserves irregular characteristics. Thus, the estimation error of FCCO and irregular parts are treated as lumped terms estimated via compensation function observer (CFO) in the IDCC. As a solving skill for composite disturbances estimation, CCDCO has two important advantages over previous designs. First, the proposed non‐coupled structure explicitly distinguishes disturbance characteristics according to a priori information known or not. Second, by combining the benefits of the CFO and proposed FCCO, different types of disturbances can be estimated accordingly without coupling of each other. Simulation results on the robotic manipulator are provided to validate the effectiveness of the proposed method.