Extended state observer based technique for control of robot systems

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

研究成果: Contribution to conferencePaper査読

35 被引用数 (Scopus)

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
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 20026 14 2002

その他

その他Proceedings of the 4th World Congress on Intelligent Control and Automation
Country中国
CityShanghai
Period6/10/026/14/02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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