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

DOI10.1007/S11071-016-2864-4zbMATH Open1349.93280OpenAlexW2418653394MaRDI QIDQ345660FDOQ345660

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

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zbMATH Keywords

robotic manipulatordisturbance observer with EKF (DEKF)extended Kalman filter (EKF)white Gaussian noise (WGN)

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (7)

• New results on the robust stability of control systems with a generalized disturbance observer
• 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
• Bounded decoupling control for flexible-joint robot manipulators with state estimation
• Extended invariant-EKF designs for state and additive disturbance estimation
• Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation
• Design of sliding observers for Lipschitz nonlinear system using a new time-averaged Lyapunov function

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