Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence PROJECT TITLE :Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic ConvergenceABSTRACT: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. Did you like this research project? To get this research project Guidelines, Training and Code... Click Here facebook twitter google+ linkedin stumble pinterest Virtual-Flux-Based Predictive Direct Power Control of Three-Phase PWM Rectifiers With Fast Dynamic Response Modeling malicious activities in cyber space
