期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 30, 期 5, 页码 2251-2260出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2021.3136333
关键词
Force; Force measurement; Force control; Force sensors; Noise measurement; Robot sensing systems; Mechanical variables measurement; Force disturbance observer (FDOB); force estimation; measurement noises; mechanical disturbances; precise force control
资金
- Institute of Civil Military Technology Cooperation - Defense Acquisition Program Administration
- Ministry of Trade, Industry, and Energy of Korean Government [19-CM-GU-01]
This brief proposes a precise force control system that combines force and disturbance observers to overcome the challenges posed by force sensor measurement noises and mechanical disturbances. A reduced-order multisensor-based force observer (RMFOB) is used to attenuate sensor measurement noises, while a model-based force disturbance observer (FDOB) is employed to suppress the effects of mechanical disturbances. The system's stability analysis is conducted using a systematic tuning criterion based on RMFOB cutoff frequency. The effectiveness of the proposed method is verified through theoretical analyses, simulations, and experiments.
Force sensor measurement noises and mechanical disturbances make realization of stable and robust force control systems challenging. With regard to this, a precise force control system that implements a combination of force and disturbance observers (DOBs) is proposed in this brief. The observers are a reduced-order multisensor-based force observer (RMFOB) to attenuate sensor measurement noises and a model-based force DOB (FDOB) to suppress the effects of mechanical disturbances. These are combined in a closed-loop setting to form a twofold observer-based precise force control system. A novel systematic tuning criterion for the RMFOB and FDOB cutoff frequencies utilizing sensor noise and force disturbance intensities derived from the proposed closed-loop system is developed. In addition, analysis of robust stability against nonlinearity and parameter variations of the proposed system is conducted using RMFOB cutoff frequency. Finally, effectiveness of the proposed method is verified by theoretical analyses, simulations, and experiments.
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