Robust control for rigid robotic manipulators using nonlinear disturbance observer

Mou Chen, Bin Jiang, Rong Xin Cui

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

In this paper, the robust control scheme is developed for rigid robotic manipulators with the unknown system uncertainty and the unknown external disturbance. In the robust control design, the unknown system uncertainty and the unknown external disturbance are treated as an unknown compounded disturbance which is estimated using the nonlinear disturbance observer. Utilizing the estimate output of the developed disturbance observer, the robust tracking control is designed for rigid robotic manipulators. The closed-loop system stability is rigorously proved via Lyapunov analysis and the good tracking performance can be guaranteed under the integrated effect of the unknown system uncertainty and the unknown external disturbance. Numerical simulation results are presented to illustrate the effectiveness of the proposed robust control scheme for unknown rigid robotic manipulators.

Original languageEnglish
Pages (from-to)305-311
Number of pages7
JournalInternational Journal of Robotics and Automation
Volume29
Issue number3
DOIs
StatePublished - 18 Jun 2014

Keywords

  • Nonlinear disturbance observer
  • Rigid robotic manipulator
  • Robust control
  • Tracking control

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