Applications of disturbance observer and kalman filter based force sensation in motion control

Disturbance observer and Kalman filtering technique have been developed in various motion control applications. This paper is aimed at presenting applications of disturbance observer and Kalman filter based force sensation to achieve high performance control systems. The advantage of a motion control system based on disturbance observer and Kalman filter is the realization of robustness against disturbances and parameter variations, effective noise suppression and wideband force sensing. Several control schemes proposed in our previous works are presented to clarify the effectiveness of applying disturbance observer and Kalman filter in motion control.