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Twofold Observer-Based Precise Force Control
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DOI：10.1109/TCST.2021.3136333.png)
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Abstract
En 中文
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.
Keywords:
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
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