Constrained Nonlinear Disturbance Observer
Constraint aware nonlinear disturbance observation for contact responsive robot control.
Constraint aware nonlinear disturbance observation for contact responsive robot control.
Overview
Constrained NRIC embeds optimization into a nonlinear disturbance observer for robotic systems. Explicit constraints give the controller additional properties while preserving the robustness and simple structure of disturbance observer based control.
One application is contact responsive motion control. The robot tracks its desired trajectory during free motion but reacts appropriately when it encounters an unknown interaction. Experiments on a physical robot validate the proposed designs.
Publication
J. W. Han, D. Park, and M. J. Kim, “Constrained Nonlinear Disturbance Observer for Robotic Systems,” IEEE ICRA, 2024. IEEE