A high-gain observer-based PD control for robot manipulator

Heredia, Juan; Yu, Wen

doi:10.1109/acc.2000.878637

Cited by 25 publications

(15 citation statements)

References 12 publications

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“…For example, assuming uncertainties known in the system, the popular PD control of robot manipulator was modified in [2], and a high-gain observer was proposed for the estimation of the velocity. Assuming that some of the tracking error coordinates are not measurable, an observer based controller resulting in K-exponential convergence of the tracking error was introduced in [3].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Stability Control of the Robot Based on Extended State Observer

Yang

Huang

et al. 2015

2015 2nd International Conference on Information Science and Control Engineering

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For the uncertainties which exist objectively in the robot system impact on the motion performance of joint robot system, an active disturbance rejection control method of joint robot system is proposed based on state observation and compensation. The uncertainties of the system are introduced by constructing extended state in the method, and uncertainties and state variables are estimated by an Extended State Observer (ESO) which has the form of nonlinear ordinary differential equations. Then, estimate of uncertainties is considered as the robust control compensation in the control. The method does not rely on the specific form of uncertainties and measurement of all state parameters. Simulations taking 2R robot as an example demonstrate feasibility and effectiveness of the method, and the results show the system has good stability. The method proposed can directly be applied to stability control of complex systems.

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Section: Introductionmentioning

confidence: 99%

Adaptive Stability Control of the Robot Based on Extended State Observer

Yang

Huang

et al. 2015

2015 2nd International Conference on Information Science and Control Engineering

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show abstract

“…In [20], singular perturbations are used to derive a tracking controller for electrically driven robot manipulators. The popular PD control of robot manipulator is modified in [21]. Specifically, a high-gain observer was proposed for the estimation of the velocity and, by means of singular perturbation analysis, the closed-loop system was studied.…”

Section: Introductionmentioning

confidence: 99%

Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity

Moreno–Valenzuela¹,

González-Hernández²

2011

ISA Transactions

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“…This adjustment allows making the transfer function from δ to the error small so that the estimation error is not sensitive to the modeling error (Wang & Gao, 2003;Khalil, 1999;Heredia & Yu, 2000).…”

Section: Nonlinear Observer Based State Estimationmentioning

confidence: 99%

“…In the practical robotic systems all the generalized coordinates can be precisely measured by the encoder for each joint, but the velocity measurements obtained through the tachometers are easily perturbed by noises. To overcome these physical constraints, a nonlinear observer can be used for state estimation (Kozłowski, 2004;Rodriguez-Angeles & Nijmeijer, 2004;Heredia & Yu, 2000). The state space model of rigid robot (6), (7) can be reorganized as…”

Section: Nonlinear Observer Based State Estimationmentioning

confidence: 99%