Enhanced Operational Space Formulation for multiple tasks using Time Delay Estimation

In this paper, the practical problems of the Operational Space Formulation (OSF) are considered. The OSF provides decentralized control of the tasks by virtue of the `dynamic decoupling property´. In the practical view point, however, the OSF can be unfavorable due to the inevitable modeling error and large computational effort. As a remedy for this problem, the OSF is enhanced with Time-Delay Estimation (TDE) scheme. The robustness and efficiency of the proposed control have been analyzed and demonstrated to be effective against the practical problems while preserving the dynamic decoupling property.