Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance

This paper presents an adaptive output feedback control for a manipulator under the presence of the time-varying output constraint and uncertainties. The proposed control is formulated based on a nonlinear extended state observer and a barrier Lyapunov function. The nonlinear extended state observer...

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Автори:	Duc Thien Tran, Maolin Jin, Kyoung Kwan Ahn
Формат:	Artigo
Мова:	Inglês
Опубліковано:	IEEE 2019-01-01
Серія:	IEEE Access
Предмети:	Adaptive control barrier Lyapunov function nonlinear extended state observer time-varying output constraint uncertain manipulator
Онлайн доступ:	https://ieeexplore.ieee.org/document/8883170/
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