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

DOI10.1007/s10846-008-9298-2zbMath1203.68261MaRDI 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 method; Internal and external disturbances; Nonlinear disturbance observer; Robot manipulators

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

68T40: Artificial intelligence for robotics

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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