A nonlinear disturbance observer for robotic manipulators

  title={A nonlinear disturbance observer for robotic manipulators},
  author={Wen-Hua Chen and Donald J. Ballance and Peter J. Gawthrop and John O'Reilly},
  journal={IEEE Trans. Industrial Electronics},
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as… CONTINUE READING
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