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Disturbance-Observer Control for Robotics by ngohuynhanhkhoi is a document available to read on EtoBox.
This research presents a Disturbance Observer (DO) based control technique for a 6-DOF robotic manipulator to enhance robustness against uncertainties and disturbances using Sliding Mode Control (SMC) and Passivity Based Control (PBC). The proposed controllers effectively estimate external perturbation forces, improving trajectory tracking performance and overall system speed and precision. The study demonstrates the effectiveness of the DO in mitigating the effects of disturbances without the need for expe
- Author
- ngohuynhanhkhoi
- Language
- EN