Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence
SCIE
SCOPUS
- Title
- Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence
- Authors
- Kim, MJ; Chung, WK
- Date Issued
- 2015-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Abstract
- 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.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/36073
- DOI
- 10.1109/TRO.2015.2477957
- ISSN
- 1552-3098
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, vol. 31, no. 6, page. 1508 - 1516, 2015-12
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.