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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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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Abstract 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.
AbstractList 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.
Author Wang, Yuanjiang
He, Wangyong
Liu, Sanqiu
Li, Haogui
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Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China
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Snippet Robotic Manipulators (RM) are nonlinear and coupling system with time-variant and model uncertainties. In addition, RM are subject to different types of...
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SubjectTerms Disturbance observers
Fuzzy logic
Manipulators
Nonlinear control
Payloads
Robot arms
Title Suppression the Disturbance of Robotic Manipulators Based on Nonlinear Disturbance Observer and Fuzzy Logic System
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