DocumentCode
3450772
Title
Nonlinear disturbance observer for flexible-link manipulators based on flexural rate estimation
Author
Rashidinejad, A. ; Nikravesh, S.K.Y. ; Talebi, H.A.
Author_Institution
Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran, Iran
fYear
2013
fDate
28-30 Dec. 2013
Firstpage
269
Lastpage
273
Abstract
In this paper, a nonlinear disturbance observer (NDO) is designed to estimate the environmental torques exerted on a flexible-link manipulator. To avoid differentiation from noisy data in order to get the estimate of flexural rates, another reduced order observer is employed. Then, the stability analysis of the integrated observer errors based on Lyapunov stability criterion is studied. Finally, the performance of the proposed observer is investigated by numerical simulations.
Keywords
Lyapunov methods; flexible manipulators; observers; reduced order systems; stability; Lyapunov stability criterion; environmental torque estimation; flexible-link manipulators; flexural rate estimation; integrated observer errors; nonlinear disturbance observer; reduced order observer; stability analysis; Manipulator dynamics; Observers; Robot sensing systems; Stability analysis; Flexible link manipulator; environmental torque; estimation; flexural rates; nonlinear disturbance observer;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on
Conference_Location
Tehran
Type
conf
DOI
10.1109/ICCIAutom.2013.6912847
Filename
6912847
Link To Document