Extended state observer based technique for control of robot systems

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

Extended state observer based technique for control of robot systems

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

工学研究院

研究成果: Contribution to conference › Paper › 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 2002 → 6 14 2002

その他

その他	Proceedings of the 4th World Congress on Intelligent Control and Automation
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

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引用スタイル

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title = "Extended state observer based technique for control of robot systems",

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.",

author = "Huang Yi and Luo, {Z. W.} and Svinin, {Mikhail Mikhailovich} and T. Odashima and S. Hosoe",

year = "2002",

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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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T2 - Proceedings of the 4th World Congress on Intelligent Control and Automation

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