Discrete-Time Analysis and Synthesis of Disturbance Observer-Based Robust Force Control Systems

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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Auteurs principaux: Emre Sariyildiz, Satoshi Hangai, Tarik Uzunovic, Takahiro Nozaki
Format: article
Langue:EN
Publié: IEEE 2021
Sujets:
Discrete-time control
disturbance observer
force control
robustness
reaction force observer
robust stability and performance
Electrical engineering. Electronics. Nuclear engineering
TK1-9971
Accès en ligne:https://doaj.org/article/c68305895b0547978c792277b1bd3f07
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https://doaj.org/article/c68305895b0547978c792277b1bd3f07

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