Extended state observer based technique for control of robot systems

Huang Yi, Z. W. Luo, Mikhail Mikhailovich Svinin, T. Odashima, S. Hosoe

Research output: Contribution to conferencePaper

32 Citations (Scopus)

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.

Original languageEnglish
Pages2807-2811
Number of pages5
Publication statusPublished - Dec 1 2002
EventProceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, China
Duration: Jun 10 2002Jun 14 2002

Other

OtherProceedings of the 4th World Congress on Intelligent Control and Automation
CountryChina
CityShanghai
Period6/10/026/14/02

Fingerprint

Motion control
Robots
Manipulators

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Yi, H., Luo, Z. W., Svinin, M. M., Odashima, T., & Hosoe, S. (2002). Extended state observer based technique for control of robot systems. 2807-2811. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.

Extended state observer based technique for control of robot systems. / Yi, Huang; Luo, Z. W.; Svinin, Mikhail Mikhailovich; Odashima, T.; Hosoe, S.

2002. 2807-2811 Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.

Research output: Contribution to conferencePaper

Yi, H, Luo, ZW, Svinin, MM, Odashima, T & Hosoe, S 2002, 'Extended state observer based technique for control of robot systems' Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China, 6/10/02 - 6/14/02, pp. 2807-2811.
Yi H, Luo ZW, Svinin MM, Odashima T, Hosoe S. Extended state observer based technique for control of robot systems. 2002. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.
Yi, Huang ; Luo, Z. W. ; Svinin, Mikhail Mikhailovich ; Odashima, T. ; Hosoe, S. / Extended state observer based technique for control of robot systems. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.5 p.
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