Robust and safe control based on disturbance observer for train doors

Accidents caused by automatic doors frequently occur. Infrared sensor or force sensor is often used for automatic doors to detect the presence of a human, and ensure the safety of doors. But in the case of train doors, we can not use infrared sensor and force sensor because of several reasons. In addition, train doors should be gated exactly not to disturb the train services. This paper suggests two methods using disturbance observer. One is novel impedance control, and another is impact force suppression control. These methods are not only safe for human but also robust. Two proposed methods were implemented on train door experimental machine, and its validity was verified experimentally.