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A nonlinear disturbance observer for robotic manipulators
Open accessAbstract
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.
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Cited by
Second-Order Sliding Mode Control for Nonlinear Uncertain Systems Bounded by Positive Functions
Ding, S., Wang, J., & Zheng, W. X. (2015) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2015.2448064 · Cited by 162
AJWAD, S. A., IQBAL, J., KHAN, A. A., & MEHMOOD, A. (2015) · Studies in Informatics and Control · doi:10.24846/v24i4y201504 · Cited by 53
Qi, G., Hu, J., Li, L., & Li, K. (2024) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2023.3344217 · Cited by 32
Phan, V. D., Vo, C. P., & Ahn, K. K. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7412 · Cited by 30
Adaptive sliding mode control of an electro-hydraulic actuator with a kalman extended state observer
Lao, L., & Chen, P. (2024) · IEEE Access · doi:10.1109/access.2024.3349946 · Cited by 31
Metadata
- Authors
- Chen, W.-H., Ballance, D. J., Gawthrop, P. J., & O'Reilly, J.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2000
- Volume
- 47
- Issue
- 4
- Pages
- 932-938
- ISSN
- 0278-0046 (ISSN-L)
- OpenAlex
- W2167808181
- Cited by
- 1,752
- References
- 0
- FWCI
- 10.98
- Type
- journal article
- Language
- en
- Open access
- green
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- Chen, W.-H., Ballance, D. J., Gawthrop, P. J., & O'Reilly, J. (2000). A nonlinear disturbance observer for robotic manipulators. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/41.857974
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