Disturbance Observer Based Composite Nonlinear Feedback Controller Design for Robot Manipulators

When the robot system is disturbed, the control performance of the controller will be weakened, causing the system to generate positioning errors and vibration. The composite nonlinear feedback (CNF) controller based on disturbance observer proposed in this paper can solve this problem effectively. The simulation results show that the new controller can not only retain the advantages of the CNF, but also can effectively suppress the influence of disturbance on the system, it can make the system achieve better control performance and strong robustness.