Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (12): 256-264.DOI: 10.3778/j.issn.1002-8331.1902-0185

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Adaptive Nonlinear Disturbance Observer Control for Curved Surface Processing Robot

ZHANG Yu, WANG Yaonan, JIA Lin   

  1. 1.College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
    2.National Engineering Laboratory for Robot Vision Perception and Control Technology, Changsha 410082, China
  • Online:2020-06-15 Published:2020-06-09



  1. 1.湖南大学 电气与信息工程学院,长沙 410082
    2.机器人视觉感知与控制技术国家工程实验室,长沙 410082


In order to reduce the machining accuracy caused by friction in a special-shaped surface grinding robot, an improved non-linear disturbance observer is proposed to observe and compensate it. The dynamic model of high-precision industrial manipulator is established. The nonlinear disturbance observer is designed based on the model and the stability analysis of the system is given by applying Lyapunov function stability theory. A typical friction model is introduced, and the observer is used to estimate the unmeasurable internal friction state, and the estimated value is applied to the friction compensation portion of the PD controller. Through simulation and experimental verification, the experimental results show that the observer can greatly improve the control precision of the system and reduce the tracking error of the simulation experiment. The control accuracy of the experimental platform is improved by more than 30%. The observer can greatly compensate the friction of the two-joint manipulator and track the joint position.

Key words: friction model, non-linear disturbance observer, curved surface processing robot, PD controller



关键词: 摩擦模型, 非线性干扰观测器, 曲面加工机器人, PD控制器