Loughborough University
ChenEtAl_nonlinear_IEEE_TransIE_2000.pdf (194.32 kB)

A nonlinear disturbance observer for robotic manipulators

Download (194.32 kB)
journal contribution
posted on 2008-10-20, 09:07 authored by Wen-Hua ChenWen-Hua Chen, Donald J. Ballance, Peter J. Gawthrop, John O'Reilly
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control, and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well.



  • Aeronautical, Automotive, Chemical and Materials Engineering


  • Aeronautical and Automotive Engineering


CHEN, W-H. .. et al, 2000. A nonlinear disturbance observer for robotic manipulators. IEEE Transactions on Industrial Electronics, 47 (4), pp.932-938 [DOI: 10.1109/41.857974]



Publication date



This article was published in the journal, IEEE transactions on industrial electronics. [© IEEE] and is also available at: http://ieeexplore.ieee.org/Xplore/dynhome.jsp Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.




  • en