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

• Published in: Journal 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
• Language: English
• Published: Tokyo Fuji Technology Press Co. Ltd 20.12.2020
• Subjects: Disturbance observers; Fuzzy logic; Manipulators; Nonlinear control; Payloads; Robot arms

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...