Constrained Nonlinear Disturbance Observer for Robotic Systems
Ji Wan Han,Daehyung Park,Min Jun Kim,Ji Wan Han,Daehyung Park,Min Jun Kim
Disturbance observer (DOB) is a well-known two-loop control structure that imparts robustness to a controller with a simple implementation. As a nonlinear DOB for the robotic systems, we proposed so-called nonlinear robust internal-loop compensator (NRIC) framework in our previous work. In this paper, we further extend the NRIC in such a way that an optimization scheme can be embedded in the contr...
