Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence

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This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance observer (DOB). In this paper, the DOB is applied only to the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that the proposed DOB-based approach guarantees global asymptotic stability. To this end, two special treatments are required. First, unlike the typical configuration of the DOB, nominal states of the motor-side are fed back to the PD controller. Second, a control input that makes the nominal states stable is additionally introduced. The proposed approach was verified using multi-degree-of-freedom experiments.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2015-12
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.31, no.6, pp.1508 - 1516

ISSN
1552-3098
DOI
10.1109/TRO.2015.2477957
URI
http://hdl.handle.net/10203/275902
Appears in Collection
EE-Journal Papers(저널논문)
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