{"title":"基于弯曲率估计的柔性臂非线性扰动观测器","authors":"A. Rashidinejad, S. Nikravesh, H. Talebi","doi":"10.1109/ICCIAUTOM.2013.6912847","DOIUrl":null,"url":null,"abstract":"In this paper, a nonlinear disturbance observer (NDO) is designed to estimate the environmental torques exerted on a flexible-link manipulator. To avoid differentiation from noisy data in order to get the estimate of flexural rates, another reduced order observer is employed. Then, the stability analysis of the integrated observer errors based on Lyapunov stability criterion is studied. Finally, the performance of the proposed observer is investigated by numerical simulations.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Nonlinear disturbance observer for flexible-link manipulators based on flexural rate estimation\",\"authors\":\"A. Rashidinejad, S. Nikravesh, H. Talebi\",\"doi\":\"10.1109/ICCIAUTOM.2013.6912847\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a nonlinear disturbance observer (NDO) is designed to estimate the environmental torques exerted on a flexible-link manipulator. To avoid differentiation from noisy data in order to get the estimate of flexural rates, another reduced order observer is employed. Then, the stability analysis of the integrated observer errors based on Lyapunov stability criterion is studied. Finally, the performance of the proposed observer is investigated by numerical simulations.\",\"PeriodicalId\":444883,\"journal\":{\"name\":\"The 3rd International Conference on Control, Instrumentation, and Automation\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 3rd International Conference on Control, Instrumentation, and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCIAUTOM.2013.6912847\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 3rd International Conference on Control, Instrumentation, and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCIAUTOM.2013.6912847","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Nonlinear disturbance observer for flexible-link manipulators based on flexural rate estimation
In this paper, a nonlinear disturbance observer (NDO) is designed to estimate the environmental torques exerted on a flexible-link manipulator. To avoid differentiation from noisy data in order to get the estimate of flexural rates, another reduced order observer is employed. Then, the stability analysis of the integrated observer errors based on Lyapunov stability criterion is studied. Finally, the performance of the proposed observer is investigated by numerical simulations.
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