Adaptive reaction torque/force observer design i

Emre Sariyildiz, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper proposes a new adaptive design method for the robust force control systems based on disturbance observer (DOB). A DOB is a robust control tool that is widely used in motion control applications. It can also be used to estimate environmental impedance by identifying system uncertainties and is called as reaction torque/force observer (RTOB/RFOB). A RTOB/RFOB has several superiorities over a force sensor such as higher bandwidth, sensorless force control, stability improvement etc., so it can be used in force control implementations effectively. However, there is no systematic analysis and design methods for a RTOB/RFOB based robust force control system; therefore, its stability and performance highly depend on designers own experiences. A new adaptive design method is proposed by estimating environmental impedance. It adjusts not only the force control gain, but also the bandwidths of a DOB and a RTOB/RFOB and the ratio between uncertain and nominal inertias. In this paper, it is assumed that environmental impedance can be modeled by considering only stiffness or damping. The validity of the proposal is verified by simulation and experimental results.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479923243
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC


Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014


  • Adaptive Control
  • Disturbance Observer
  • Motion Control Systems
  • Reaction Torque/Force Observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Adaptive reaction torque/force observer design i'. Together they form a unique fingerprint.

Cite this