Universal nonlinear disturbance observer for robotic manipulators

Dynamic uncertainties and unknown disturbances will degrade the tracking performance of robots. When using a disturber observer-based controller, key to effectively compensate for these is measure or estimate as accurately possible any disturbance. To relax restrictions on design current nonlinear disturbance observer robot, universal proposed higher estimation performance. The stability theoretically analyzed boundaries error are proven according vector differential equation. Finally, evaluated via simulation by comparison observer. result shows faster speed accuracy