Journal of Engineering and Applied Sciences

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Disturbance Observer Based Tracking Control for Robot Manipulators with Model Uncertainty

Farah Bouakrif , Djamel Boukhetala and Fares Boudjema
Page: 1066-1073 | Received 21 Sep 2022, Published online: 21 Sep 2022

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Abstract

This study presents a disturbance observer based tracking control for robotic manipulators. The tracking control problem is formulated as a disturbance rejection problem, with the mechanical nonlinearities, unmodeled dynamics and external disturbances lumped into the disturbance term. The global stability of the composite controller and observer is guaranteed, this result is based on Lyapunov theory. In simulation, the tracking control of a two link manipulator is used as an example to verify the proposed algorithm, when the Coulomb and Viscous friction is considered as an external disturbance.

How to cite this article:

Farah Bouakrif , Djamel Boukhetala and Fares Boudjema . Disturbance Observer Based Tracking Control for Robot Manipulators with Model Uncertainty.
DOI: https://doi.org/10.36478/jeasci.2007.1066.1073
URL: https://www.makhillpublications.co/view-article/1816-949x/jeasci.2007.1066.1073