Inertia-related coupling torque compensator for disturbance observer based position control of robotic manipulators

  • Jinwook SeokEmail author
  • Woojong Yoo
  • Sangchul Won
Regular Papers Control Applications


We propose an inertia-related coupling torque (IRCT) compensator for disturbance observer (DOB)-based position control of multi-link robotic manipulators. The proposed compensator reduces the DOB estimation error that is due to input with high-frequency components. To analyze the compensated system, the state space model is converted to singular perturbation form and the stability of the proposed system is also addressed. Numerical simulations and experimental results show the effectiveness of the proposed compensator.


Disturbance observer position control robotic manipulator singular perturbation 



n×1 vector representing the disturbance, including external torque and nonlinearities of the real plant

\(\hat d\)

n×1 vector representing estimated disturbance torque of the DOB


n×1 vector representing additional control input to cancel out the IRCT


derivative gain of the PD controller


proportional gain of the PD controller


n×1 vector of joint variables (rad)

\(\dot q\)

n×1 vector of joint velocity (rad/s)

\(\ddot q\)

n×1 vector of joint acceleration (rad/s2)


n×1 vector of reference joint variables (rad)


time (s)


n×1 input torque (n⊙m)


n×1 input signal from controller (n⊙m)


n×1 measurement noise of the output


n×1 output of the inverse of the nominal model


state vector of the Q-filter (=[α i1...α in ] T ∈ ℝ n )


state vector of the compensator (=[β i1...β in ] T ∈ ℝ n )


state vector of the transformed system (=[ξ 11...ξ 1n ] T ∈ ℝ n )


state vector of the transformed system (=[ξ i1...ξ in ] T ∈ ℝ n )


positive constant (s)


cut-off frequency (hz)


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Department of Electronic and Electrical EngineeringPOSTECHGyungbukKorea

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