抄録
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.
本文言語 | 英語 |
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ページ | 2807-2811 |
ページ数 | 5 |
出版ステータス | 出版済み - 12 1 2002 |
イベント | Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, 中国 継続期間: 6 10 2002 → 6 14 2002 |
その他
その他 | Proceedings of the 4th World Congress on Intelligent Control and Automation |
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Country | 中国 |
City | Shanghai |
Period | 6/10/02 → 6/14/02 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications