Extended state observer based technique for control of robot systems

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

Extended state observer based technique for control of robot systems

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

Faculty of Engineering

Research output: Contribution to conference › Paper › peer-review

33 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 language	English
Pages	2807-2811
Number of pages	5
Publication status	Published - Dec 1 2002
Event	Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, China Duration: Jun 10 2002 → Jun 14 2002

Other

Other	Proceedings of the 4th World Congress on Intelligent Control and Automation
Country	China
City	Shanghai
Period	6/10/02 → 6/14/02

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Science Applications

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title = "Extended state observer based technique for control of robot systems",

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.",

author = "Huang Yi and Luo, {Z. W.} and Svinin, {Mikhail Mikhailovich} and T. Odashima and S. Hosoe",

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AU - Luo, Z. W.

AU - Svinin, Mikhail Mikhailovich

AU - Odashima, T.

AU - Hosoe, S.

PY - 2002/12/1

Y1 - 2002/12/1

N2 - 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.

AB - 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.

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