TY  - JOUR
T1  - Disturbance Observer Based Tracking Control for Robot Manipulators with Model Uncertainty
AU - , Farah Bouakrif AU - , Djamel Boukhetala AU - , Fares Boudjema 
JO  - Journal of Engineering and Applied Sciences
VL  - 2
IS  - 6
SP  - 1066
EP  - 1073
PY  - 2007
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2007.1066.1073
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2007.1066.1073
KW  - Tracking control
KW  -disturbance observer
KW  -nonlinearities
KW  -robot manipulator
AB  - 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.
ER  -