A nonlinear disturbance observer for robotic manipulators

By Wen‐Hua Chen, D. Ballance, Peter J. Gawthrop, J. O'Reilly. IEEE transactions on industrial electronics (1982. Print), 2000

1,684 citations recorded by the source corpus.

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.

Subfields: Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/557e1cfea1fffce67bb4ceb791f579a7cce013e8

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

1. Mou Chen
2. Shihua Li
3. Shuzhi Sam Ge
4. Wei He
5. Gang Tao
6. Jun Yang
7. Peng Shi
8. Rongxin Cui

In Mechanical Engineering

1. Shihua Li
2. Mou Chen
3. Gang Tao
4. Roberto Oboe
5. Kouhei Ohnishi
6. Emre Sariyildiz
7. Jun Yang
8. Shuzhi Sam Ge

Citations in the corpus

• Performance Recovery of Feedback-Linearization-Based Designs (2008, background): “Exceptions can be found in [4] and [16], where nonlinear analysis is included, although only for constant disturbances.”
• Sliding-Mode Control for Systems With Mismatched Uncertainties via a Disturbance Observer (2013, background): “A nonlinear DOB (NDOB), which can estimate the disturbance in (9), is introduced and depicted by [14], [39]–[42] { ṗ = −lg2p − l [g2lx + f(x) + g1(x)u] , d̂ = p + lx, (10)”
• Disturbance-observer-based robust control for time delay uncertain systems (2010, background): “In [26], a nonlinear disturbance observer-based approach was proposed for longitudinal dynamics of a missile, while a new nonlinear disturbance observer for robotic manipulators was derived in [27].”
• Overview and Comparison of Modulation and Control Strategies for a Nonresonant Single-Phase Dual-Active-Bridge DC–DC Converter (2020, background): “Combining a nonlinear disturbance observer (NDO) [107], [108], the block diagram of the CSC can be shown in Fig.”
• Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer (2017, background): “In the early 21st century, Chen et al. [43]–[45] derived a new type of nonlinear disturbance observer for the robotic manipulator.”
• Sliding mode control for a class of uncertain nonlinear system based on disturbance observer (2009, methodology): “In this paper, an NDO developed in [22, 23] is adopted to monitor external unknown bounded constant disturbance.”
• Disturbance-Observer-Based Control and Related Methods—An Overview (2016, background): “, industrial robotic manipulators [16], [66], motion servo systems [4], [18], maglev suspension systems [65], power converters [67], and disk drive systems [68].”
• ADRC With Adaptive Extended State Observer and its Application to Air–Fuel Ratio Control in Gasoline Engines (2015, background): “2435004 control (NDOBC) [7]–[9], embedded model control (EMC) [10], composite hierarchical antidisturbance control (CHADC) [11], etc.”
• Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview (2019, methodology): “be designed in different ways [62], [78].”
• On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications (2016, methodology): “We further reject its effect by direct feedforward the disturbance estimate based on the principle of DOBC (see, [2, 7, 8]).”
• Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone (2016, background): “In the past decades, various disturbance observer design and disturbance-observer-based control schemes have been extensively studied for system with external disturbances [40].”
• Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. (2013, methodology): “The nonlinear disturbance observer for robotic manipulators was developed in [30].”
• Design of a class of new nonlinear disturbance observers based on tracking differentiators for uncertain dynamic systems (2015, methodology): “In order to eliminate the shortcomings of NDO 0 and the NDOs in [7-11], we design a class of new NDOs, described as follows: Theorem 2: For the following system”
• Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey (2017, background): “It has been shown in [57] that the NDOB asymptotically estimates the disturbance if the disturbance is constant and the observer gain l(x) is chosen such that”
• Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors (2005, background): “Due to these attractive features, the observer-based controller has become one of the most commonly used schemes in control systems and an enormous amount of results on them have been published [9]–[17].”
• Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing (2019, background): “Moreover, for the disturbances with partially known information, for example, harmonic disturbances with known frequencies, DOBC will be a more suitable option to estimate and reject these disturbances [23], [24].”