Adaptive reaction torque/force observer design i

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)


This paper proposes a new adaptive design method for the robust force control systems based on disturbance observer (DOB). A DOB is a robust control tool that is widely used in motion control applications. It can also be used to estimate environmental impedance by identifying system uncertainties and is called as reaction torque/force observer (RTOB/RFOB). A RTOB/RFOB has several superiorities over a force sensor such as higher bandwidth, sensorless force control, stability improvement etc., so it can be used in force control implementations effectively. However, there is no systematic analysis and design methods for a RTOB/RFOB based robust force control system; therefore, its stability and performance highly depend on designers own experiences. A new adaptive design method is proposed by estimating environmental impedance. It adjusts not only the force control gain, but also the bandwidths of a DOB and a RTOB/RFOB and the ratio between uncertain and nominal inertias. In this paper, it is assumed that environmental impedance can be modeled by considering only stiffness or damping. The validity of the proposal is verified by simulation and experimental results.

ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16


名前International Workshop on Advanced Motion Control, AMC


Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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