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JACIII Vol.24 No.7 pp. 846-854
doi: 10.20965/jaciii.2020.p0846
(2020)

Paper:

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Suppression the Disturbance of Robotic Manipulators Based on Nonlinear Disturbance Observer and Fuzzy Logic System

Wangyong He*,**,†, Haogui Li*,**, Yuanjiang Wang*,**, and Sanqiu Liu*,**

*School of Automation, China University of Geosciences
No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China

**Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System
No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China

†Corresponding author

Received:
October 14, 2020
Accepted:
October 27, 2020
Published:
December 20, 2020
Creative Commons License
Keywords:
robotic manipulator, disturbances, nonlinear disturbance observer, fuzzy logic systems
Abstract

Robotic Manipulators (RM) are nonlinear and coupling system with time-variant and model uncertainties. In addition, RM are subject to different types of disturbances in practice, such as joint frictions, unknown payloads, and interferences from external systems. In this paper, these adverse factors are regarded as disturbance, and classifies them into internal disturbances and external disturbances. In order to achieve high-precision control, a Nonlinear Disturbance Observer (NDO) is designed to suppress external disturbances, and a Fuzzy Logic System (FLS) is designed to compensate internal disturbances. The scheme can effectively suppress the disturbance and improve the control accuracy. The validity of the scheme is shown by computer simulations of a two-link robot manipulator.

The control structure block diagram

The control structure block diagram

Cite this article as:
W. He, H. Li, Y. Wang, and S. Liu, “Suppression the Disturbance of Robotic Manipulators Based on Nonlinear Disturbance Observer and Fuzzy Logic System,” J. Adv. Comput. Intell. Intell. Inform., Vol.24 No.7, pp. 846-854, 2020.
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