Robust nonlinear observer for flexible joint robot manipulators with only motor position measurement

Jaeyoung Lee, Tae Jun Ha, Je Sung Yeon, Sanghun Lee, Jong Hyeon Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

This paper proposes a design method of sliding mode observer for flexible joint robot manipulators. The proposed observer structure is the conventional Luenberger observer with additional switching element that is a role to attenuate system uncertainties and modeling errors. During sliding, the design method is that the nonlinear function due to system uncertainty in sliding mode observer is divides into the parameter distinction and estimation error elements by using the Lipschitz condition. From the design method, this paper proves relation of the asymptotical stability and robustness of overall system according to the positive nonlinear gain of switching element. The proposed observer accurately estimates the velocity and position of link side in the flexible joint robot using only motor position measurement. In the simulation result, the performance and robustness of proposed sliding mode observer is verified and compared with the high gain observer.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages56-61
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: 2007 Oct 172007 Oct 20

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CountryKorea, Republic of
CitySeoul
Period07/10/1707/10/20

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Keywords

  • Flexible joint
  • Nonlinear observer
  • Robust observer
  • Sliding mode observer

Cite this

Lee, J., Ha, T. J., Yeon, J. S., Lee, S., & Park, J. H. (2007). Robust nonlinear observer for flexible joint robot manipulators with only motor position measurement. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 56-61). [4406879] https://doi.org/10.1109/ICCAS.2007.4406879