Robust nonlinear observer for flexible joint robot manipulators with only motor position measurement
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jaeyoung | - |
dc.contributor.author | Ha, Tae Jun | - |
dc.contributor.author | Yeon, Je Sung | - |
dc.contributor.author | Lee, Sanghun | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-12-21T05:43:40Z | - |
dc.date.available | 2022-12-21T05:43:40Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2007-10 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/179453 | - |
dc.description.abstract | This paper proposes a design method of sliding mode observer for flexible joint robot manipulators. The proposed observer structure is the conventional Luenberger observer with additional switching element that is a role to attenuate system uncertainties and modeling errors. During sliding, the design method is that the nonlinear function due to system uncertainty in sliding mode observer is divides into the parameter distinction and estimation error elements by using the Lipschitz condition. From the design method, this paper proves relation of the asymptotical stability and robustness of overall system according to the positive nonlinear gain of switching element. The proposed observer accurately estimates the velocity and position of link side in the flexible joint robot using only motor position measurement. In the simulation result, the performance and robustness of proposed sliding mode observer is verified and compared with the high gain observer. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | ICCAS | - |
dc.title | Robust nonlinear observer for flexible joint robot manipulators with only motor position measurement | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/ICCAS.2007.4406879 | - |
dc.identifier.scopusid | 2-s2.0-48349089100 | - |
dc.identifier.bibliographicCitation | ICCAS 2007 - International Conference on Control, Automation and Systems, pp.56 - 61 | - |
dc.relation.isPartOf | ICCAS 2007 - International Conference on Control, Automation and Systems | - |
dc.citation.title | ICCAS 2007 - International Conference on Control, Automation and Systems | - |
dc.citation.startPage | 56 | - |
dc.citation.endPage | 61 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Control theory | - |
dc.subject.keywordPlus | Industrial robots | - |
dc.subject.keywordPlus | Machine design | - |
dc.subject.keywordPlus | Manipulators | - |
dc.subject.keywordPlus | Modular robots | - |
dc.subject.keywordPlus | Motors | - |
dc.subject.keywordPlus | Parameter estimation | - |
dc.subject.keywordPlus | Position measurement | - |
dc.subject.keywordPlus | Robot applications | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Robustness (control systems) | - |
dc.subject.keywordPlus | Sliding mode control | - |
dc.subject.keywordPlus | Theorem proving | - |
dc.subject.keywordPlus | And modeling | - |
dc.subject.keywordPlus | Asymptotical stabilities | - |
dc.subject.keywordPlus | Design methods | - |
dc.subject.keywordPlus | Estimation errors | - |
dc.subject.keywordPlus | Flexible joint | - |
dc.subject.keywordPlus | Flexible joint robots | - |
dc.subject.keywordPlus | High-gain observers | - |
dc.subject.keywordPlus | Lipschitz conditions | - |
dc.subject.keywordPlus | Luenberger observers | - |
dc.subject.keywordPlus | Nonlinear functions | - |
dc.subject.keywordPlus | Nonlinear gains | - |
dc.subject.keywordPlus | Nonlinear observer | - |
dc.subject.keywordPlus | Overall systems | - |
dc.subject.keywordPlus | Robust nonlinear observers | - |
dc.subject.keywordPlus | Robust observer | - |
dc.subject.keywordPlus | Simulation results | - |
dc.subject.keywordPlus | Sliding mode observer | - |
dc.subject.keywordPlus | Switching elements | - |
dc.subject.keywordPlus | System uncertainties | - |
dc.subject.keywordPlus | Flexible manipulators | - |
dc.subject.keywordAuthor | Flexible joint | - |
dc.subject.keywordAuthor | Nonlinear observer | - |
dc.subject.keywordAuthor | Robust observer | - |
dc.subject.keywordAuthor | Sliding mode observer | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4406879 | - |
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