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

Kenji Ogawa, Kouhei Ohnishi, Yousef Ibrahim

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1123-1128
ページ数6
ISBN(電子版)9781509014125
DOI
出版ステータスPublished - 2017 8月 3
イベント26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
継続期間: 2017 6月 182017 6月 21

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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