Publication: Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems
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Informa UK Limited
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Abstract
This paper addresses the attenuation problem of input disturbances in the control of fully actuated mechanical systems in the discrete-time setting. Firstly, a discrete-time disturbance estimator d...
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Journal or Series
International Journal of Systems Science
ISSN
0020-7721
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OPEN
Keywords
immersion and invariance (I&I), Delay, backstepping control, Sliding Mode Control, Tracking Control, Adaptive Backstepping Control, feedback linearisation, Stabilization, Feedback, Robotic Manipulators, discrete-time nonlinear disturbance observer (NDO), discrete-time control, Disturbance attenuation