Abstract
This paper presents a unified approach for obtaining the relationship between disturbance observers (DOB) and time-delayed controllers (TDC) for controlling robot manipulators. Previously, DOBs in the linear control configuration have been actively used in motion control applications to reject disturbances to the system. The extended nonlinear DOB can be constructed by formulating inverse dynamics models of robot manipulators. Furthermore, the nonlinear DOB scheme without dynamics models can be constructed for robot manipulators. This scheme leads to the concept of time-delayed control, which means that the two schemes are equivalent. Simulation examples are provided for each scheme. Experimental studies are conducted to compare the performance between proportional-derivative (PD) control and TDC.
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