A Disturbance Observer-based Robust Tracking Controller for Uncertain Robot Manipulators
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This paper considers the trajectory tracking problem for uncertain robot manipulators subject to external disturbance torques. The external disturbance torques are assumed to be unknown and time-varying. We present a disturbance observer-based controller which estimates the lumped disturbance (the external disturbance torque combined with the effect of plant uncertainties), and compensates it so that the overall closed-loop system behaves like the nominal closed-loop system that is composed of the nominal model of robot manipulator and the feedback linearization-based tracking controller. A simplified implementation of the proposed controller is also introduced. Simulation results on a robot manipulator are given to validate the performance of the proposed controller.
KeywordsDisturbance observer robot manipulators robust control stability of nonlinear systems
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