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 |
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| Pages | 2807-2811 |
| Number of pages | 5 |
| Publication status | Published - 2002 |
| Externally published | Yes |
| 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/Territory | China |
| City | Shanghai |
| Period | 6/10/02 → 6/14/02 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications