Observer-based motion control - Application to robust control and parameter identification -

This paper describes motion control strategies based on disturbance observer in multi-degrees-offreedom manipulator. Basically the disturbance observer estimates total disturbance effects imposed on the system. By using the disturbance observer, two sophisticated abilities are added to the controller. One is disturbance suppression ability which is obtained by the feedback of the estimated disturbance torque. The other is the parameter identification ability. In this case, all parameters included in motion equations of the system are identified by resolving the estimated disturbance torque. First, we explain a basic structure of the disturbance observer. Then a general configuration of the observer-based motion controller is introduced. Second, the parameter identification algorithm is shown. Several experimental results are also implemented to confirm the validity of the observer-based motion control.