High-Speed High-Precision Motion Control of Robots Using Extended State Observer.

摘要

In this paper, we construct a nonlinear extended state observer (ESO) to estimate the dynamics of general multilink robot manipulators. The ESO is then applied to the high-speed/high-precision tracking control of a two-link DD robot with unknown dynamics. Control experiments are conducted which demonstrate that the proposed control method using ESO yields better tracking control performance as compared with the conventional disturbance observer (DOB) method or PD feedback.