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- W4313170716 abstract "This study proposed a State feedback controller (SFC) with a Disturbance observer (DO) for a flexible joint robotic arm under disturbances. The dynamic model of flexible joint robotic arms has vibrations. Due to this system response changes while the movement of a robotic arm, which results in the position of the tip of a link is not set in a proper place. since there is a need to control the vibration of a robotic arm. The design of a traditional controller is capable only of state estimation and evaluations of internal disturbance. Since there is a need for a robust controller and this is achieved by designing the SFC + DO. Which determines the state vector, uncertainties like modeling error, parameter variation, external disturbances, etc. The proposed approach proves closed-loop stability. Simulation results show the efficacy of SFC + DO in the performance of position tracking, estimating states, and uncertainties." @default.
- W4313170716 created "2023-01-06" @default.
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- W4313170716 date "2022-10-03" @default.
- W4313170716 modified "2023-10-01" @default.
- W4313170716 title "Disturbance Observer-Based Robust Control of A Flexible Joint Manipulator in The Presence of Unknown Disturbance" @default.
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- W4313170716 doi "https://doi.org/10.1109/icccnt54827.2022.9984294" @default.
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