A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer

Name: A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Author: Sarıyıldız, E., Sekiguchi, H., Nozaki, T., Uğurlu, Regaip Barkan, Ohnishi, K.

İsim	A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Yazar	Sarıyıldız, E., Sekiguchi, H., Nozaki, T., Uğurlu, Regaip Barkan, Ohnishi, K.
Basım Tarihi:	2018-10
Basım Yeri	- IEEE
Konu	Acceleration-based control (ABC), Disturbance observer (DOb), Nonlinear stability analysis, Passivity-based control, Robust position control
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1083-4435
Kayıt Numarası	33e8f69e-5430-412f-800e-52ea85756488
Lokasyon	Mechanical Engineering
Tarih	2018-10
Örnek Metin	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

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A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer

Yazar Sarıyıldız, E., Sekiguchi, H., Nozaki, T., Uğurlu, Regaip Barkan, Ohnishi, K.

Basım Tarihi 2018-10

Basım Yeri - IEEE

Konu Acceleration-based control (ABC), Disturbance observer (DOb), Nonlinear stability analysis, Passivity-based control, Robust position control

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1083-4435

Kayıt Numarası 33e8f69e-5430-412f-800e-52ea85756488

Lokasyon Mechanical Engineering

Tarih 2018-10

Örnek Metin 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