A nonlinear disturbance observer for robotic manipulators

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.



Publisher's URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=18639&page=0


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
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
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.

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