Journal ArticleDOI
A Disturbance Observer-based Robust Tracking Controller for Uncertain Robot Manipulators
Wonseok Ha,Juhoon Back +1 more
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TLDR
A disturbance observer-based controller is presented which estimates the lumped disturbance, compensates it so that the overall closed-loop system behaves like the nominal closed- loop system that is composed of the nominal model of robot manipulator and the feedback linearization-based tracking controller.Abstract:
This paper considers the trajectory tracking problem for uncertain robot manipulators subject to external disturbance torques. The external disturbance torques are assumed to be unknown and time-varying. We present a disturbance observer-based controller which estimates the lumped disturbance (the external disturbance torque combined with the effect of plant uncertainties), and compensates it so that the overall closed-loop system behaves like the nominal closed-loop system that is composed of the nominal model of robot manipulator and the feedback linearization-based tracking controller. A simplified implementation of the proposed controller is also introduced. Simulation results on a robot manipulator are given to validate the performance of the proposed controller.read more
Citations
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Journal ArticleDOI
On the stability of ADRC for manipulators with modelling uncertainties.
TL;DR: It is shown, that if the third derivative of the desired trajectory is small enough then an intentional increase of the input matrix estimation error may lead to a reduction of the tracking error boundary.
Journal ArticleDOI
Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance
TL;DR: An adaptive output feedback control for a manipulator under the presence of the time-varying output constraint and uncertainties is presented and asymptotic stability and output constraint satisfaction are theoretically demonstrated by using the Lyapunov theory.
Journal ArticleDOI
Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
TL;DR: An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators that employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design.
Journal ArticleDOI
Robust Tracking of Robot Manipulators via Momentum-based Disturbance Observer and Passivity-based Controller
Juhoon Back,Wonseok Ha +1 more
TL;DR: The inner-loop controller developed in this paper robustly estimates the lumped disturbance, which is defined by the effect of plant uncertainty and external disturbance, and generates a compensating signal so that the closed-loop system consisting of the uncertain robot, disturbance observer, and passivity-based controller behaves like the nominal closed- loop system.
References
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Book
Robot Modeling and Control
TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Journal ArticleDOI
Disturbance-Observer-Based Control and Related Methods—An Overview
TL;DR: This survey gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control.
Journal ArticleDOI
A nonlinear disturbance observer for robotic manipulators
TL;DR: 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.
Journal ArticleDOI
Torque sensorless control in multidegree-of-freedom manipulator
TL;DR: A torque sensorless control for a multi-degree-of-freedom manipulator and several experimental results are shown to confirm the validity of the proposed sensorless force controller.
Journal ArticleDOI
Disturbance observer based control for nonlinear systems
TL;DR: This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques and develops a nonlinear disturbance observer for disturbances generated by an exogenous system.
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