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Permanent link (DOI): https://doi.org/10.7939/R3R30Q

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Disturbance observer design for robotic and telerobotic systems Open Access

Descriptions

Other title
Subject/Keyword
nonlinear control
variable time delay
linear matrix inequality
robotics
telerobotics
disturbance observer
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
Mohammadi, Alireza
Supervisor and department
Marquez, Horacio J. (Electrical and Computer Engineering)
Tavakoli, Mahdi (Electrical and Computer Engineering)
Examining committee member and department
Marquez, Horacio J. (Electrical and Computer Engineering)
Chen, Tongwen (Electrical and Computer Engineering)
Koch, Bob (Mechanical Engineering)
Tavakoli, Mahdi (Electrical and Computer Engineering)
Department
Department of Electrical and Computer Engineering
Specialization

Date accepted
2011-07-08T17:25:30Z
Graduation date
2011-11
Degree
Master of Science
Degree level
Master's
Abstract
Employing disturbance observers is an effective way of enhancing the stability and performance of the control systems subject to disturbances. Disturbance observers have been extensively used for control of mechatronic systems since their introduction in the 1980s. This thesis studies the design of nonlinear disturbance observers for robotic manipulators and their applications in the control of telerobotic systems. A novel framework is introduced, based on linear matrix inequalities, for the design of nonlinear disturbance observers for serial robotic manipulators. This design method removes the restrictions encountered in previous design methods. In spite of the many applications of the disturbance observers in mechatronic systems, there are few studies that address the design of such observers for telerobotic systems. Moreover, these studies cannot guarantee the stability of telerobotic systems with time delay. This thesis presents a rigorous theoretical basis for the disturbance observer based control of telerobotic systems with variable time delays.
Language
English
DOI
doi:10.7939/R3R30Q
Rights
License granted by Alireza Mohammadi (alireza3@ualberta.ca) on 2011-07-06T23:08:05Z (GMT): Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of the above terms. The author reserves all other publication and other rights in association with the copyright in the thesis, and except as herein provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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