NDLI: Attenuation and rejection for multiple disturbances of nonlinear robotic systems using nonlinear observer and PID controller

Content Provider	IEEE Xplore Digital Library
Author	Xin-Yu Wen Lei Guo
Copyright Year	2010
Description	Author affiliation: School of Automation, Southeast University, Nanjing, 210096, China (Xin-Yu Wen; Lei Guo)
Abstract	A hierarchical anti-disturbance strategy is designed for a class of robotic nonlinear systems. A new generalized disturbance observer is constructed and integrated with a conventional PID controller so that the desired dynamic performance can be guaranteed. The disturbances include two parts. One part is the norm bounded uncertain disturbance. The other part is supposed to be generated by an exogenous system with the modeling perturbation, and has nonlinear relations with system differential term. This method only involves design of linear parameters so as to avoid the heavy computation of Hamilton-jaccobi partial differential equations in nonlinear H∞ control or the inversion of mass matrix. Simulations on a two-link robotic manipulator demonstrate the advantages of the proposed control scheme. Comparisons have been given with the classical disturbance observer based control (DOBC) strategy.
Starting Page	2512
Ending Page	2517
File Size	642996
Page Count	6
File Format	PDF
ISBN	9781424467129
e-ISBN	9781424467129
DOI	10.1109/WCICA.2010.5554495
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Computational modeling Nonlinear dynamical systems Manipulators MIMO multiple disturbances anti-disturbance control nonlinear systems disturbances observer (DO)
Content Type	Text
Resource Type	Article

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