Nonlinear disturbance observer for two link robotic manipulators

Wen Hua Chen; Donald J. Ballance; Peter J. Gawthrop; Jeremy J. Gribble; John O'Reilly

Nonlinear disturbance observer for two link robotic manipulators

Wen Hua Chen, Donald J. Ballance, Peter J. Gawthrop, Jeremy J. Gribble, John O'Reilly

Department of Aeronautical and Aviation Engineering

Research output: Journal article publication › Conference article › Academic research › peer-review

37 Citations (Scopus)

Abstract

A new nonlinear disturbance observer for two link robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer is guaranteed by selecting design parameters which depend on the maximum velocity and the physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing disturbance observers which are designed or analysed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, torque sensorless control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation.

Original language	English
Pages (from-to)	3410-3415
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	4
Publication status	Published - 1999
Event	The 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA Duration: 7 Dec 1999 → 10 Dec 1999

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Cite this

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title = "Nonlinear disturbance observer for two link robotic manipulators",

abstract = "A new nonlinear disturbance observer for two link robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer is guaranteed by selecting design parameters which depend on the maximum velocity and the physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing disturbance observers which are designed or analysed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, torque sensorless control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation.",

author = "Chen, {Wen Hua} and Ballance, {Donald J.} and Gawthrop, {Peter J.} and Gribble, {Jeremy J.} and John O'Reilly",

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journal = "Proceedings of the IEEE Conference on Decision and Control",

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note = "The 38th IEEE Conference on Decision and Control (CDC) ; Conference date: 07-12-1999 Through 10-12-1999",

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T1 - Nonlinear disturbance observer for two link robotic manipulators

AU - Chen, Wen Hua

AU - Ballance, Donald J.

AU - Gawthrop, Peter J.

AU - Gribble, Jeremy J.

AU - O'Reilly, John

PY - 1999

Y1 - 1999

N2 - A new nonlinear disturbance observer for two link robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer is guaranteed by selecting design parameters which depend on the maximum velocity and the physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing disturbance observers which are designed or analysed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, torque sensorless control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation.

AB - A new nonlinear disturbance observer for two link robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer is guaranteed by selecting design parameters which depend on the maximum velocity and the physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing disturbance observers which are designed or analysed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, torque sensorless control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation.

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M3 - Conference article

AN - SCOPUS:0033325154

SN - 0191-2216

VL - 4

SP - 3410

EP - 3415

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - The 38th IEEE Conference on Decision and Control (CDC)

Y2 - 7 December 1999 through 10 December 1999

ER -

Nonlinear disturbance observer for two link robotic manipulators

Abstract

ASJC Scopus subject areas

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