TY - GEN
T1 - Robust force control with a novel gain tuning methodology based on the stable margin theory
AU - Ogawa, Kenji
AU - Ohnishi, Kouhei
AU - Ibrahim, Yousef
N1 - Funding Information:
This work is supported in part by a Grant-in-Aid for the Program for Leading Graduate Schools for “ Science for Development of Super Mature Society ”from the Ministry of Education, Culture, Sport, Science, and Technology in Japan. Also, this research was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (S), 25220903, 2013.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/3
Y1 - 2017/8/3
N2 - This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.
AB - This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.
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U2 - 10.1109/ISIE.2017.8001403
DO - 10.1109/ISIE.2017.8001403
M3 - Conference contribution
AN - SCOPUS:85029895815
T3 - IEEE International Symposium on Industrial Electronics
SP - 1123
EP - 1128
BT - Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Symposium on Industrial Electronics, ISIE 2017
Y2 - 18 June 2017 through 21 June 2017
ER -