Lyapunov-based nonlinear disturbance observer for serial n-Link robot manipulators

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 55, Issue 2-3, 2009, Pages 135-153

  Nikoobin, Amin ^a   Haghighi, Reza ^b  

^a SEMNAN UNIVERSITY   (Iran)

^b IRAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Iran)

Author keywords

Internal and external disturbances; Lyapunov direct method; Nonlinear disturbance observer; Robot manipulators

Indexed keywords

DESIGN PARAMETERS; DISTURBANCE OBSERVER; DYNAMIC EQUATIONS; EXTERNAL DISTURBANCES; GLOBAL ASYMPTOTIC STABILITY; HIGH-PRECISION MOTION; INTERNAL AND EXTERNAL DISTURBANCES; LYAPUNOV; LYAPUNOV DIRECT METHOD; LYAPUNOV'S DIRECT METHOD; MAXIMUM VELOCITY; NONLINEAR DISTURBANCE OBSERVER; NUMERICAL SIMULATION; PHYSICAL PARAMETERS; ROBOT MANIPULATOR; ROBOT MANIPULATORS; STABILITY ANALYSIS; TIME-VARYING DISTURBANCE; TRACKING PERFORMANCE; TWO-LINK ROBOT MANIPULATORS; UNMODELED DYNAMICS;

ASYMPTOTIC STABILITY; EQUATIONS OF MOTION; FLEXIBLE MANIPULATORS; FRICTION; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS; SYSTEM STABILITY; TIME DELAY;

MACHINE DESIGN;

EID: 67349124347     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-008-9298-2     Document Type: Article

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