Universal nonlinear disturbance observer for robotic manipulators

Abstract

Dynamic uncertainties and unknown disturbances will degrade the tracking performance of robots. When using a disturber observer-based controller, the key to effectively compensate for these uncertainties is to measure or estimate as accurately as possible any disturbance. To relax restrictions on the design of the current nonlinear disturbance observer for the robot, a universal nonlinear disturbance observer is proposed for higher estimation performance. The stability of the proposed universal nonlinear disturbance observer is theoretically analyzed and the boundaries of estimation error are proven according to the vector differential equation. Finally, the proposed universal nonlinear disturbance observer is evaluated via simulation by comparison to the nonlinear disturbance observer. The result shows a faster estimation speed and a higher estimation accuracy of the universal nonlinear disturbance observer.