Extended state observer based technique for control of robot systems

Abstract

This paper deals with the complex robot systems motion control. A nonlinear observer, called extended state observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.