Work

ADOB: A Field-Friendly Control Framework for Reliable Robotic Systems via Complementary Integration of Robust and Adaptive Control

Year: 2026

Type: article

Abstract: Practical robotic systems require control methods that remain reliable under limited computational resources, uncertain environments, and frequent changes in operating conditions. Although model-based control forms the foundation of high-performance robotics, real-world deployment is often hindered by model uncertainty, time-varying dynamics, and costly identification. As a result, low-order and intuitive control schemes remain dominant, yet such approaches often fail to sustain consistent performance under disturbances and parameter variations. Robust and adaptive control provide representative paradigms to address this gap, where a Disturbance Observer (DOB) suppresses uncertainty through disturbance rejection and a Parameter Adaptation Algorithm (PAA) improves model fidelity through online identification. However, direct integration of a DOB and a PAA often introduces functional interference, including mutual masking between disturbance compensation and parameter estimation, which compromises closed-loop stability. This paper proposes an Adaptive Disturbance Observer (ADOB) that integrates a DOB with online parameter adaptation. The ADOB updates the nominal model of the DOB in real time using a Recursive Least Squares (RLS)-based PAA, while a dual-filtering structure separates disturbance rejection and parameter identification. Stability is analyzed using hyperstability theory, where a smoothing mechanism enforces the slowly varying parameter assumption. Experiments on a one-Degree-of-Freedom (DOF) electromagnetic actuator and a three-DOF robotic manipulator demonstrate reductions in model uncertainty and tracking error compared with a conventional DOB.

Source: Sensors

DOI: 10.3390/s26051443

Authors: Jangyeon Park, Kwanho Yu, Jungsu Choi

Institution: Yeungnam University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Yeungnam University