Title :
Extended state observer based technique for control of robot systems
Author :
Huang, Yi ; Luo, Z.W. ; Svinin, M. ; Odashima, T. ; Hosoe, S.
Author_Institution :
Inst. of Syst. Sci., Acad. Sinica, Beijing, China
Abstract :
This paper deals with the complex robot systems motion control. A nonlinear observer, called extended state observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.
Keywords :
compensation; manipulator dynamics; nonlinear dynamical systems; observers; stability; extended state observer; extended state observer based technique; external disturbances; manipulator nonlinear dynamics compensation; motion control; nonlinear observer; robot finger motion control; robot system control; Acceleration; Control systems; Couplings; Friction; Manipulator dynamics; Motion control; PD control; Robot control; Robust control; Torque control;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020036
