Robust Tracking and Human-Compliance Control Using Integral SMC and DOB

Abstract

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper. 키워드 : 적분슬라이딩모드, 외란관측기, 컴플라이언스, 강인로봇제어, 인간순응제어 Key word : Integral Sliding Mode, Disturbance Observer, Compliance, Robust Robot Control, Human-Compliance Control Received 29 November 2016, Revised 01 December 2016, Accepted 19 December 2016 * Corresponding Author Gun-Pyong Kwak(E-mail:kwak@changwon.ac.kr, Tel:+82-55-213-3637) Department of Electrical Engineering, Changwon National University, Changwon 51140, Korea Open Access http://doi.org/10.6109/jkiice.2017.21.2.416 print ISSN: 2234-4772 online ISSN: 2288-4165 This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License(http://creativecommons.org/li-censes/ by-nc/3.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited. Copyright C The Korea Institute of Information and Communication Engineering. Journal of the Korea Institute of Information and Communication Engineering 적분슬라이딩모드와 DOB를 이용한 강인추종 및 인간순응 로봇제어