Work

A nonlinear disturbance observer for robotic manipulators

Year: 2000

Type: article

Abstract: A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well.

Source: IEEE Transactions on Industrial Electronics

DOI: 10.1109/41.857974

Authors: Wen-Hua Chen, D.J. Ballance, P.J. Gawthrop, J. O'Reilly

Institution: University of Glasgow

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Nanjing University of Aeronautics and Astronautics

OpenAlex ID: W2167808181

FWCI: 9.967

Cites: 16

Cited by: 1,778

Related to: 10