Title

Robust force control via disturbance observer

RIS ID

115171

Publication Details

Sariyildiz, E. & Ohnishi, K. (2013). Robust force control via disturbance observer. IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6551-6556). United States: IEEE.

Abstract

Disturbance observer (DOB), which is one of the key points of acceleration based motion control systems, guarantees robustness of a system by nominalizing real plant and suppressing external disturbances. Besides that, it can be used to estimate external forces/torques by identifying system uncertainties, and it is called as a reaction torque/force observer (RTOB/RFOB) in the literature. RTOB/RFOB has several superiorities over force sensors, and therefore, it has been widely used, specifically in the motion control area, in the last two decades. The main disadvantage of a RTOB/RFOB is that it is affected significantly by the identification of system uncertainties. However, there is no a clear report on the design constraints of RTOB/RFOB based force control systems. This paper shows that not only performance but also robustness and stability of a robust force control system are affected significantly by the identification errors in the design of RTOB/RFOB. A new design criterion which improves stability and performance of RTOB/RFOB based force control systems is proposed. RTOB/RFOB and force sensor based force control systems are compared and simulation results are given to show the validity of the proposed method.

Please refer to publisher version or contact your library.

Share

COinS
 

Link to publisher version (DOI)

http://dx.doi.org/10.1109/IECON.2013.6700215