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

DOI10.1007/s10846-008-9298-2zbMath1203.68261MaRDI QIDQ614653

Reza Haghighi, A. Nikoobin

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 method; Internal and external disturbances; Nonlinear disturbance observer; Robot manipulators

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

68T40: Artificial intelligence for robotics

Related Items

Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator, Adaptive neural output feedback control for uncertain robot manipulators with input saturation, Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers, Robust disturbance estimation for human-robotic comanipulation

Cites Work

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