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

DOI10.1007/S10846-008-9298-2MaRDI QIDQ614653zbMATH OpenOpenAlexFDO

Authors A. Nikoobin, R. 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 methodInternal and external disturbancesNonlinear disturbance observerRobot manipulators

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• An approximate inverse system for nonminimum-phase systems and its application to disturbance observer
• Nonlinear observer design for state and disturbance estimation
• Output feedback sampled-data control of nonlinear systems using high-gain observers
• Unknown disturbance inputs estimation based on a state functional observer design.

Cited in

(10)

• Active vibration control for a flexible-link manipulator with input constraint based on a disturbance observer
• Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator
• Tracking Control of an unknown switched nonlinear system based on adaptive backstepping with nonlinear disturbance observer
• Disturbance observer-based fixed-time prescribed performance tracking control for robotic manipulator
• Development of nonlinear disturbance observer based control and nonlinear PID: a personal note
• Event-triggered optimal interaction control of the MRM system under the complex multi-task constraints: design and experiments
• Adaptive neural output feedback control for uncertain robot manipulators with input saturation
• Event‐trigger‐based approximate optimal control of modular robot manipulators using zero‐sum game
• Robust disturbance estimation for human-robotic comanipulation
• Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers

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