@inbook{6c79331a7136411bba9bff833b7ea079,
title = "Hierarchical composite anti-disturbance control for robotic systems using robust disturbance observer",
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 H2 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.",
author = "Lei Guo and Wen, \{Xin Yu\} and Xin Xin",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag London Limited 2010.",
year = "2010",
doi = "10.1007/978-1-84996-329-9\_11",
language = "英语",
series = "Advanced Information and Knowledge Processing",
publisher = "Springer-Verlag London Ltd",
pages = "229--243",
booktitle = "Advanced Information and Knowledge Processing",
}