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- W1656816975 abstract "A new anti-disturbance control strategy is presented for a class of nonlinear robotic systems with multiple disturbances. This strategy is named hierarchical composite anti-disturbance control (HCADC). Two types of disturbances are studied. One is generated by an exogenous system with uncertainty and the other is described by an uncertain vector with the bounded H 2 norm. The hierarchical control strategy is established which includes a disturbance observer based controller (DOBC) and an H ∞ controller, where DOBC is used to reject the first type of disturbance and H ∞ controller is used to attenuate the second. Stability analysis for both the error estimation systems and the composite closed-loop system is provided. Simulations for a two-link manipulator system show that the desired disturbance attenuation and rejection performances can be guaranteed." @default.
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- W1656816975 date "2010-01-01" @default.
- W1656816975 modified "2023-10-06" @default.
- W1656816975 title "Hierarchical Composite Anti-Disturbance Control for Robotic Systems Using Robust Disturbance Observer" @default.
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- W1656816975 doi "https://doi.org/10.1007/978-1-84996-329-9_11" @default.
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