Passivity-Based Versus Disturbance Observer Based Robot Control: Equivalence and Stability
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Published:1999-03-01
Issue:1
Volume:121
Page:41-47
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Bickel Robert1, Tomizuka Masayoshi2
Affiliation:
1. Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184, Japan 2. Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740
Abstract
Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of Sadegh and Horowitz, and Slotine and Li. This is accomplished by choosing a specific design of the Q(s) filter (described in the paper) of the disturbance observer. By doing so, the stability of the disturbance observer based approach can be proven rigorously. An additional benefit of the equivalence of the two approaches is the ability to combine an adaptive controller to the disturbance observer based approach.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference22 articles.
1. Bickel, R., and Tomizuka, M., 1994, “Design of a Robust Tracking Controller in the Discrete Time Domain,” Proceedings of the 3rd International Workshop on Advanced Motion Control, Berkeley, CA, pp. 648–659. 2. Bickel, R., and Tomizuka, M., 1995, “Disturbance Observer Based Hybrid Impedance Control,” Proceedings of the American Control Conference, Seattle, WA, pp. 729–733. 3. Desoer, C. A., and Vidyasagar, M., 1975, Feedback Systems: Input-Output Properties, Academic Press, New York, NY. 4. Endo, S., Tomizuka, M., and Hori, Y., 1993, “Robust Digital Tracking Controller Design for High-Speed Positioning Systems,” Proceedings of the American Control Conference, San Francisco, CA, pp. 2494–2498. 5. Hori, Y., Shimura, K., and Tomizuka, M., 1992, “Position/Force Control of Multi-Axis Robot Manipulator Based on the TDOF Robust Servo Controller for Each Joint,” Proceedings of the American Control Conference, pp. 753–757.
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