Passivity-Based Versus Disturbance Observer Based Robot Control: Equivalence and Stability

[+] Author and Article Information
Robert Bickel

Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184, Japan

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740

J. Dyn. Sys., Meas., Control 121(1), 41-47 (Mar 01, 1999) (7 pages) doi:10.1115/1.2802440 History: Received May 13, 1997; Online December 03, 2007


Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of Sadegh and Horowitz, and Slotine and Li. This is accomplished by choosing a specific design of the Q(s) filter (described in the paper) of the disturbance observer. By doing so, the stability of the disturbance observer based approach can be proven rigorously. An additional benefit of the equivalence of the two approaches is the ability to combine an adaptive controller to the disturbance observer based approach.

Copyright © 1999 by The American Society of Mechanical Engineers
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