Stability analysis and design dethod for disturbance observer-based manipulator control

摘要

Because of its good performance in suppressing parameter variations, its simplicity, and its usefulness for real-time control, the disturbance observer has recently been employed for manipulator control. However, how stably the disturbance observer suppresses parameter variations in the total manipulator control system has not been examined. In this paper we analyze a manipulator control system based on the disturbance observer.