Gawthrop, P.J., Chen, W.H. and Ballance, D.J. (2000) A nonlinear disturbance observer for robotic manipulators. IEEE Transactions on Industrial Electronics, 47(4), pp. 932-938.
|
Text
Gawthropiee474.pdf 171kB |
Publisher's URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=18639&page=0
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.
Item Type: | Articles |
---|---|
Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Ballance, Dr Donald and Gawthrop, Professor Peter |
Authors: | Gawthrop, P.J., Chen, W.H., and Ballance, D.J. |
Subjects: | T Technology > TJ Mechanical engineering and machinery |
College/School: | College of Science and Engineering > School of Engineering > Systems Power and Energy |
Research Group: | Systems and Control engineering |
Journal Name: | IEEE Transactions on Industrial Electronics |
Publisher: | Institute of Electrical and Electronics Engineers |
ISSN: | 0278-0046 |
Copyright Holders: | ©2000 IEEE |
First Published: | First published in IEEE Transactions on Industrial Electronics 47(4) :932-938 |
Publisher Policy: | Reproduced in accordance with the copyright policy of the publisher. |
University Staff: Request a correction | Enlighten Editors: Update this record