@article{CheBalGaw00,
author = {W.-H. Chen and D. J. Ballance and P. J. Gawthrop
and John O'Reilly},
cscauthors = {wc,djb,pjg,jor},
title = {A Nonlinear Disturbance Observer for Robotic Manipulators},
year = 2000,
journal = {IEEE Transactions on Industrial Electronics},
volume = 47,
number = 4,
month = {August},
pages = {932-938},
abstract = {A new nonlinear disturbance observer (NDO) for
robotic manipulators is derived in this
paper. The global exponential stability of the
proposed disturbance observer (DO) is guaranteed
by selecting design parameters, which depend on
the maximum velocity and physical parameters of
robotic manipulators. This new observer
overcomes the disadvantages of existing DOs,
which are designed or analyzed by linear system
techniques. It can be applied in robotic
manipulators for various purposes such as
friction compensation, independent joint
control, sensorless torque control and fault
diagnosis. The performance of the proposed
observer is demonstrated by the friction
estimation and compensation for a two-link
robotic manipulator. Both simulation and
experimental results show the NDO works well},
pdf = {../../Publications/csc2000/CheBalGaw00.pdf}
}
@article{GawRon00b,
author = {Peter J. Gawthrop and Eric Ronco},
cscauthors = {pjg},
title = {Estimation and Control of Mechatronic Systems
Using Sensitivity Bond Graphs},
journal = {Control Engineering Practice},
year = 2000,
volume = 8,
number = 11,
month = {November},
pages = {1237--1248},
abstract = { A new bond graph framework for sensitivity theory is
applied to model-based predictive control, state estimation, and
parameter estimation in the context of physical systems. The
approach is illustrated using a nonlinear mechatronic system.},
pdf = {../../Publications/csc2000/GawRon00b.pdf},
doi = {10.1016/S0967-0661(00)00062-9}
}
@article{Gaw00c,
author = {Peter J Gawthrop},
title = {Sensitivity Bond Graphs},
journal = {Journal of the Franklin Institute},
year = {2000},
volume = 337,
number = 7,
month = {November},
pages = {907-922},
abstract = { A sensitivity bond graph, of the same structure as the
system bond graph, is shown to provide a simple and effective method
of generating sensitivity functions of use in optimisation. The
approach is illustrated in the context of partially-known system
parameter and state estimation.},
pdf = {../../Publications/csc2000/Gaw00c.pdf},
doi = {10.1016/S0016-0032(00)00052-1}
}
@article{Gaw00d,
author = {Peter J Gawthrop},
title = {Physical Interpretation of Inverse Dynamics
using Bicausal Bond Graphs},
journal = {Journal of the Franklin Institute},
year = 2000,
volume = 337,
number = 6,
pages = {743-769},
abstract = {A physical interpretation of the inverse dynamics of
linear and nonlinear systems is given in terms of the bond graph of
the inverse system. It is argued that this interpretation yields
physical insight to guide the control engineer.
Examples are drawn from both robotic and process systems.},
pdf = {../../Publications/csc2000/Gaw00d.pdf},
doi = {10.1016/S0016-0032(00)00051-X}
}
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