Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot

摘要

In this paper, a robust control method for two-inertia systems is proposed based on the self resonance cancellation control (SRC) and the self resonance cancellation disturbance observer (SRCDOB). The SRCDOB proposed in this paper improves the robustness of control system by rejecting disturbances and compensating for deviation of plant dynamics. The feedback controller for two-inertia systems is designed based on a nominalized plant model by SRCDOB and its effectiveness is verified through simulation study. In addition, the proposed robust resonance suppression control method is applied to a humanoid robot control system and experimental results demonstrate the effectiveness of the proposed robust resonance suppression control method.