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

DOI10.1007/S11071-016-2864-4MaRDI QIDQ345660zbMATHOpenAlexFDO

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

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)

Recommendations

• Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation
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Cites work

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

Cited in

(8)

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

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