Disturbance observer design for robotic and telerobotic systems

• Author / Creator

  Mohammadi, Alireza

• 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.

• Subjects / Keywords

  • Linear matrix inequality
  • Robotics
  • Disturbance observer
  • Telerobotics
  • Nonlinear control
  • Variable time delay

• Graduation date

  Fall 2011

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/R3R30Q

• License

  This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.