Design of a Disturbance Observer for a Force Sensation Task of a Control Moment Gyroscope

摘要

In this paper, a disturbance observer is designed to sense the contact force of a human operator for a control moment gyroscope (CMG). The contact force made by a human is estimated by a disturbance. A disturbance observer is used to estimate the unknown human contact force after the system model identification by a recursive least square (RLS) method. The model-based human contact estimator is designed in a disturbance observer framework to estimate the human contact force as a disturbance. The proposed method is experimentally evaluated by comparing the accuracy of the force estimator and the measured force of a CMG.