Output Feedback Control via Linear Extended State Observer for an Uncertain Manipulator with Output Constraints and Input Dead-Zone

Output Feedback Control via Linear Extended State Observer for an Uncertain Manipulator with Output Constraints and Input Dead-Zone

This paper proposes an output feedback controller with a linear extended state observer (LESO) for an n-degree-of-freedom (n-DOF) manipulator under the presence of external disturbance, an input dead-zone, and time-varying output constraints. First, these issues are derived in mathematical equations...

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Bibliographic Details
Main Authors: Duc Thien Tran, Hoang Vu Dao, Truong Quang Dinh, Kyoung Kwan Ahn
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Electronics
Subjects:
backstepping control
extended state observer
Lyapunov theorem
barrier Lyapunov function
time-varying output constraint
robotic manipulator
Online Access:https://www.mdpi.com/2079-9292/9/9/1355

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https://www.mdpi.com/2079-9292/9/9/1355

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