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 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications
Cite this
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 conference › Paper
}
TY - CONF
T1 - Extended state observer based technique for control of robot systems
AU - Yi, Huang
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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M3 - Paper
AN - SCOPUS:0036945880
SP - 2807
EP - 2811
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