Robust force control with a novel gain tuning methodology based on the stable margin theory

Kenji Ogawa, Kouhei Ohnishi, Yousef Ibrahim

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

1 Citation (Scopus)

Abstract

This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1123-1128
Number of pages6
ISBN (Electronic)9781509014125
DOIs
Publication statusPublished - 2017 Aug 3
Event26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
Duration: 2017 Jun 182017 Jun 21

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
CountryUnited Kingdom
CityEdinburgh, Scotland
Period17/6/1817/6/21

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Ogawa, K., Ohnishi, K., & Ibrahim, Y. (2017). Robust force control with a novel gain tuning methodology based on the stable margin theory. In Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017 (pp. 1123-1128). [8001403] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2017.8001403