Lyapunov-based nonlinear disturbance observer for serial \(n\)-link robot manipulators

DOI10.1007/s10846-008-9298-2zbMath1203.68261OpenAlexW2003493718MaRDI QIDQ614653

A. Nikoobin, Reza Haghighi

Publication date: 4 January 2011

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-008-9298-2

zbMATH Keywords

Lyapunov direct methodInternal and external disturbancesNonlinear disturbance observerRobot manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (9)

Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator ⋮ Robust disturbance estimation for human-robotic comanipulation ⋮ Adaptive neural output feedback control for uncertain robot manipulators with input saturation ⋮ Event‐trigger‐based approximate optimal control of modular robot manipulators using zero‐sum game ⋮ Event-triggered optimal interaction control of the MRM system under the complex multi-task constraints: design and experiments ⋮ Tracking Control of an unknown switched nonlinear system based on adaptive backstepping with nonlinear disturbance observer ⋮ Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer ⋮ Disturbance observer-based fixed-time prescribed performance tracking control for robotic manipulator ⋮ Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers

Cites Work

• Unknown disturbance inputs estimation based on a state functional observer design.
• Nonlinear observer design for state and disturbance estimation
• An approximate inverse system for nonminimum-phase systems and its application to disturbance observer
• Output feedback sampled-data control of nonlinear systems using high-gain observers

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