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Nonlinear Disturbance Observer-based supervisory Control Design for Robotic manipulator
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Simin Hosseinzadeh   , Ramazan Havangi * |
| University of Birjand , rhavangi@gmail.com |
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Abstract: (3231 Views) |
| Disturbance and uncertaities exist in industrial systems and greatly affect the performance and stability of these systems. The robotic manipulator is one the most widely used devices in the industry that is highly affected by various disturbances. Hence establishing a proper control algorithm to estimate and eliminate disturbances seems crucial. Since the robotic manipulator is a highly nonlinear system, we need to design a nonlinear disturbance observer. In this thesis a nonlinear disturbance observer is proposed to estimate the constant and oscillatory disturbances in the studied system. On the other hand, since proportional-derivative controllers (PD) are widely used in industrial systems, so in this thesis, a suitable proportional derivative controller will be designed. This controller is not capable of dealing with disturbances and uncertainties, so a new supervisory controller structure has been proposed to estimate disturbances and stabilize the system. The core of proposed controller uses a new sliding model controller. Finally, some comparisions with PD and super twisting sliding mode controllers have been performed in several cases and the numerical results show the advantages of the proposed controller. |
Article number: 2 |
| Keywords: Robotic Manipulator, Nonlinear Disturbance Observer, Sliding Mode Control, Supervisory Control |
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Full-Text [PDF 10055 kb]
(617 Downloads)
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Type of Study: Research |
Subject:
Nonlinear Control
Received: 2022/08/21 | Accepted: 2023/06/10 | Published: 2023/12/12
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