Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence


This paper proposes a robust PD control theme for flexible-joint robots based mostly on a disturbance observer (DOB). In this paper, the DOB is applied only to the motor-aspect dynamics of the robot, and the uncertainties on the motor-aspect are successfully eliminated. It's shown that the proposed DOB-based mostly approach guarantees international asymptotic stability. To the current end, 2 special treatments are required. First, not like the everyday configuration of the DOB, nominal states of the motor-side are fed back to the PD controller. Second, a control input that makes the nominal states stable is additionally introduced. The proposed approach was verified using multi-degree-of-freedom experiments.

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