Extended State Observer Based Control of Flexible Link Manipulator in Presence of Unknown Payload Dynamics

Author

Mahapatro, Kaliprasad A. ; Chavan, Ashitosh D. ; Suryawanshi, Prasheel V.

Author_Institution

MIT Acad. of Eng., Pune, India

fYear

2015

fDate

26-27 Feb. 2015

Firstpage

506

Lastpage

510

Abstract

The design of an observer for estimating states, uncertainty and disturbances in nonlinear plant dynamics is an essential step towards the synthesis of high performance model based control schemes. In this paper, control of flexible link is handled using feedback linearization (FL) technique. The control is made implement able by using the estimates of states, uncertainty and disturbance. The said estimates are obtained using extended state observer (ESO). The proposed scheme is validated for robustness in the presence of maximum uncertainty and periodic disturbance. The stability analysis is also presented. The results are demonstrated via computer simulations.

Keywords

feedback; flexible manipulators; linear systems; manipulator dynamics; nonlinear control systems; observers; uncertain systems; ESO; FL technique; computer simulations; extended state observer based control; feedback linearization technique; flexible link manipulator; maximum uncertainty; nonlinear plant dynamics; payload dynamics; periodic disturbance; Conferences; Manipulators; Mathematical model; Observers; Trajectory; Uncertainty; Extended State Observer (ESO); Feedback Linearization (FL); Flexible Link;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing Communication Control and Automation (ICCUBEA), 2015 International Conference on

Conference_Location

Pune

Type

conf

DOI

10.1109/ICCUBEA.2015.104

Filename

7155898