Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator

DOI10.1007/S11071-016-2864-4MaRDI QIDQ345660zbMATH OpenOpenAlexFDO

Authors Vijyant Agarwal, Harish Parthasarathy

Publication date 2 December 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-016-2864-4

zbMATH Keywords

disturbance observer with EKF (DEKF)extended Kalman filter (EKF)robotic manipulatorwhite Gaussian noise (WGN)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Filtering in stochastic control theory (93E11) Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

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Cites work

• Lyapunov-based nonlinear disturbance observer for serial n-link robot manipulators
• Stochastic processes and filtering theory

Cited in

(9)

• Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter
• Bilateral telerobotic system using type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception
• Extended invariant-EKF designs for state and additive disturbance estimation
• Design of sliding observers for Lipschitz nonlinear system using a new time-averaged Lyapunov function
• Estimation of robot states with Poisson process based on EKF approximate of Kushner filter: a completely coordinate free Lie group approach
• Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation
• New results on the robust stability of control systems with a generalized disturbance observer
• Bounded decoupling control for flexible-joint robot manipulators with state estimation
• Practical output regulation of robotic manipulators: a comparison study

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