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...

Descripción completa

Guardado en:
Detalles Bibliográficos
Autores principales: Emre Sariyildiz, Satoshi Hangai, Tarik Uzunovic, Takahiro Nozaki
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
Materias:
Acceso en línea:https://doaj.org/article/c68305895b0547978c792277b1bd3f07
Etiquetas: Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!