Disturbance observer and kalman filter based motion control realization

Thao Tran Phuong, Kiyoshi Ohishi, Chowarit Mitsantisuk, Yuki Yokokura, Kouhei Ohnishi, Roberto Oboe, Asif Sabanovic

Research output: Contribution to journalReview article

21 Citations (Scopus)

Abstract

Many effective robot-manipulator control schemes using a disturbance observer have been reported in the literature in the past decades. Besides, the disturbance observer combined with the Kalman filter has attracted the attention of researchers in the field of motion control. The major advantage of a motion control system based on the Kalman filter and disturbance observer is the realization of high robustness against disturbance and parameter variations, effective noise suppression and wideband force sensing. This paper presents a survey of motion control based on the Kalman filter and disturbance observer, which have been previously introduced by the authors. Several control schemes, as well as formulations and applications of the Kalman filter and disturbance observer, are described in the paper. The performance and effectiveness of the control schemes are evaluated to give a useful and comprehensive design of the Kalman filter and disturbance observer in various motion control applications.

Original languageEnglish
Pages (from-to)1-14
Number of pages14
JournalIEEJ Journal of Industry Applications
Volume7
Issue number1
DOIs
Publication statusPublished - 2018 Jan 1

Keywords

  • Acceleration control
  • Disturbance observer
  • Force control
  • Kalman filter
  • Motion control
  • Real-world haptics

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Phuong, T. T., Ohishi, K., Mitsantisuk, C., Yokokura, Y., Ohnishi, K., Oboe, R., & Sabanovic, A. (2018). Disturbance observer and kalman filter based motion control realization. IEEJ Journal of Industry Applications, 7(1), 1-14. https://doi.org/10.1541/ieejjia.7.1