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 conferencePaperpeer-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 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

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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