Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems
DOI10.1080/00207721.2021.1958025zbMath1483.93358OpenAlexW3187223561MaRDI QIDQ5029203
Publication date: 11 February 2022
Published in: International Journal of Systems Science (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207721.2021.1958025
disturbance attenuationbackstepping controlimmersion and invariance (I\&I)discrete-time controlfeedback linearisationdiscrete-time nonlinear disturbance observer (NDO)
Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Observers (93B53)
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