Disturbance estimation by reduced order observer-based stabilizing controller and its application to teleoperation

摘要

This paper is proposed a disturbance estimation property of internal model control by using the reduced order observer-based stabilizing controller. A control structure for a master-slave teleoperation system by a two-finger robot hand is also discussed. By using the reduced order observer-based stabilizing controller, the proposed method is able to estimate reflection force on the slave side without force sensor. Effectiveness of the proposed method is confirmed by experiments on teleoperation by the two-finger robot hands