Discrete-Time Analysis and Synthesis of Disturbance Observer-Based Robust Force Control Systems
This paper analyses Disturbance Observer- (DOb-) based robust force control systems in the discrete-time domain. The robust force controller is implemented using velocity and acceleration measurements. A DOb is employed in an inner-loop to achieve robustness, and another DOb, viz. Reaction Force Obs...
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| Main Authors: | , , , |
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| Format: | article |
| Language: | EN |
| Published: |
IEEE
2021
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| Subjects: | |
| Online Access: | https://doaj.org/article/c68305895b0547978c792277b1bd3f07 |
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