Name
Abstract | ||
|---|---|---|
This brief proposes a method for designing a disturbance observer (DOB) to decouple joint interactions in robot dynamics with nonlinearity. The traditional DOB based on filter design theory has limited performance since the cut-off frequency of its Q-filter is the only tunable parameter to deal with disturbance suppression and model uncertainty. In this brief, a robust optimal design method is developed for the DOB, which can achieve optimal performance of suppressing disturbance by systematically shaping its Q-filter. Simulation results of application to a two-link manipulator with flexible joints show the improvements in disturbance suppression, which illustrates the validity of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/TCST.2013.2248733 | IEEE Trans. Contr. Sys. Techn. |
Keywords | Field | DocType |
control nonlinearities,flexible manipulators,manipulator dynamics,observers,optimal control,robust control,uncertain systems | Nonlinear system,Optimal control,Control theory,Manipulator,Optimal design,Control engineering,Observer (quantum physics),Robust control,Robot,Mathematics,Filter design | Journal |
Volume | Issue | ISSN |
22 | 2 | 1063-6536 |
Citations | PageRank | References |
13 | 0.84 | 6 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jong Nam Yun | 1 | 38 | 2.04 |
| Jianbo Su | 2 | 231 | 38.20 |