Disturbance Observer Based Composite Nonlinear Feedback Controller Design for Robot Manipulators

被引：0
作者：
Gong Cheng-long [1 ]
Jiang Yuan [1 ]
机构：
[1] Nanchang Hangkong Univ, Dept Coll Informat Engn, Nanchang, Jiangxi, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE OF INTELLIGENT ROBOTICS AND CONTROL ENGINEERING (IRCE) | 2018年
基金：
中国国家自然科学基金;
关键词：
robot system; disturbance observer; CNF; control performance; disturbance rejection; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
When the robot system is disturbed, the control performance of the controller will be weakened, causing the system to generate positioning errors and vibration. The composite nonlinear feedback (CNF) controller based on disturbance observer proposed in this paper can solve this problem effectively. The simulation results show that the new controller can not only retain the advantages of the CNF, but also can effectively suppress the influence of disturbance on the system, it can make the system achieve better control performance and strong robustness.
引用
收藏
页码：14 / 18
页数：5
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