Disturbance estimation for robotic systems using continuous integral sliding mode observer

DOI10.1002/RNC.6252MaRDI QIDQ6069323zbMATH OpenWikidataFDO

Authors Zengjie Zhang, Dirk Wollherr, Homayoun Najjaran

Publication date 16 December 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/RNC.6252

zbMATH Keywords

disturbance observationfault detection and isolationintegral sliding moderobotic systemsliding mode observer

Mathematics Subject Classification ID

Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(3)

• Practical preset time fault‐tolerant control of uncertain Euler–Lagrange systems with input saturation and guaranteed performance
• Disturbance estimation and compensation controller based on cascade sliding mode observer containing multi-nonlinear-discontinuous functions
• A high-order finite-time observer for external force estimation of collaborative robots

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