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Control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs
tracking control of robot harmonic disturbance rejection internal model principle
2011/1/20
Currently most of control methods are of one degree of freedom (1-DOF) control structure for the robot systems which are affected by unmeasurable harmonic disturbances, at the same time in order to ob...
A stability study of the active disturbance rejection control problem by a singular perturbation approach
active disturbance rejection control singular perturbation
2009/12/30
We study the stability characteristic of the active disturbance rejection control for a nonlinear, time-varying plant. To this end, the closed-loop system is reformulated in a form that allows the sin...