Decoupling strategy for position and force control based on modal space disturbance observer

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

63 Citations (Scopus)


This paper extends the diagonalization method on the basis of the modal space disturbance observer (MDOB) for application to a multidegree-of-freedom (DOF) system. The aim of this method is to suppress the interference between the position and force control systems and realize a bilateral control system. The utility of the proposed method is experimentally verified by using a multi-DOF manipulator. It is confirmed that the MDOB-based decoupling method has better performance than oblique coordinate control. Conventional oblique coordinate control causes oscillation in cases where the modeling error is large and the cutoff frequency of an observer is not high enough to change the system dynamics. On the other hand, the MDOB-based decoupling method becomes unstable when the difference in mass is large.

Original languageEnglish
Article number6519317
Pages (from-to)1022-1032
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - 2014


  • Acceleration control
  • bilateral control
  • disturbance observer (DOB)
  • haptics
  • master-slave robot system
  • motion control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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