Author
Sarıyıldız, E., Sekiguchi, H., Nozaki, T., Uğurlu, Regaip Barkan, Ohnishi, K.
Publication Date
2018-10
Publication Place
-
IEEE
Subject
Acceleration-based control (ABC), Disturbance observer (DOb), Nonlinear stability analysis, Passivity-based control, Robust position control
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1083-4435
Record ID
33e8f69e-5430-412f-800e-52ea85756488
Library Location
Mechanical Engineering
Date
2018-10
Sample Text
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of a DOb, then the position error asymptotically goes to zero in regulation control and is uniformly ultimately bounded in trajectory-tracking control. As the bandwidth of a DOb and the nominal inertia matrix are increased, the bound of error shrinks, i.e., the robust stability and performance of the position control system are improved. However, neither the bandwidth of the DOb nor the nominal inertia matrix can be freely increased due to practical design constraints, e.g., the robust position controller becomes more noise-sensitive when they are increased. The proposed stability analysis provides insights into the dynamic behavior of DOb-based robust motion control systems. It is theoretically and experimentally proved that non-diagonal elements of the nominal inertia matrix are useful in improving the stability and in adjusting the tradeoff between robustness and noise sensitivity. The validity of the proposal is verified by simulation and experimental results.
DOI
10.1109/TMECH.2018.2854844
Cilt
23
