On the Explicit Robust Force Control via Disturbance Observer
On the Explicit Robust Force Control via Disturbance Observer
复制标题
DOI：
10.1109/tie.2014.2361611
复制
发表时间：
2015-03-01
影响因子：
7.7
通讯作者：
Ohnishi, Kouhei
中科院分区：
文献类型：
--
作者：
Sariyildiz, Emre;Ohnishi, Kouhei
分析了基于扰动观测器的显式力控制系统的鲁棒性和稳定性.传统的分析方法，只考虑理想的鲁棒性，是不切实际的，由于设计约束的DOb，例如，带宽限制。本文表明，不仅是稳定性，而且鲁棒性的DOB为基础的显式力控制系统的环境阻抗变化的变化。通过推导新的灵敏度函数，阐明了基于自由度的显式力控制系统的鲁棒性。隐式和显式的环境阻抗估计方法被认为是通过分析力传感器和反作用力观测器（RFOB）的动态，分别。结果表明，显式力控制系统的稳定性和性能可以通过使用显式环境阻抗估计方法，即，本质上是一个RFOB。然而，RFOb比力传感器对外部干扰更敏感，并且显式力控制系统的稳定性通过DOb和RFOb的设计参数而急剧变化。基于力传感器和RFOB显式鲁棒力控制系统的稳定性，鲁棒性和性能进行了详细比较。仿真和实验结果验证了所提方案的有效性。
This paper analyzes the robustness and stability of disturbance observer (DOb)-based explicit force control systems. Conventional analysis methods, which only consider ideal robustness, are impractical due to the design constraints of a DOb, e.g., bandwidth limitations. This paper shows that not only the stability but also the robustness of a DOb-based explicit force control system changes by environmental impedance variations. The robustness of a DOb-based explicit force control system is clarified by deriving new sensitivity functions. Implicit and explicit environmental impedance estimation methods are considered by analyzing the dynamics of a force sensor and a reaction force observer (RFOb), respectively. It is shown that the stability and performance of an explicit force control system can be improved by using an explicit environmental impedance estimation method, i.e., an RFOb, intrinsically. However, an RFOb is more sensitive than a force sensor to external disturbances, and the stability of the explicit force control system drastically changes by the design parameters of a DOb and an RFOb. Force-sensor- and RFOb-based explicit robust force control systems are compared in terms of stability, robustness, and performance in detail. The validity of the proposals is verified by simulation and experimental results.