Suppression the Disturbance of Robotic Manipulators Based on Nonlinear Disturbance Observer and Fuzzy Logic System

Robotic Manipulators (RM) are nonlinear and coupling system with time-variant and model uncertainties. In addition, RM are subject to different types of disturbances in practice, such as joint frictions, unknown payloads, and interferences from external systems. In this paper, these adverse factors...

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Bibliographic Details
Published inJournal of advanced computational intelligence and intelligent informatics Vol. 24; no. 7; pp. 846 - 854
Main Authors He, Wangyong, Li, Haogui, Wang, Yuanjiang, Liu, Sanqiu
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 20.12.2020
Subjects
Disturbance observers
Fuzzy logic
Manipulators
Nonlinear control
Payloads
Robot arms
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Summary:Robotic Manipulators (RM) are nonlinear and coupling system with time-variant and model uncertainties. In addition, RM are subject to different types of disturbances in practice, such as joint frictions, unknown payloads, and interferences from external systems. In this paper, these adverse factors are regarded as disturbance, and classifies them into internal disturbances and external disturbances. In order to achieve high-precision control, a Nonlinear Disturbance Observer (NDO) is designed to suppress external disturbances, and a Fuzzy Logic System (FLS) is designed to compensate internal disturbances. The scheme can effectively suppress the disturbance and improve the control accuracy. The validity of the scheme is shown by computer simulations of a two-link robot manipulator.
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ISSN:1343-0130
1883-8014
DOI:10.20965/jaciii.2020.p0846