Nonlinear Functional Observer Design for Robot Manipulators
In this paper, a nonlinear functional observer (NFO) is first proposed for the control design of robot manipulators under model uncertainties, external disturbances, and a lack of joint velocity information. In principle, the proposed NFO can estimate not only lumped disturbances and uncertainties b...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-09-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/11/19/4033 |