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“…For example, in human-robot interaction (HRI), it is important to detect and classify collisions and contacts to guarantee safety in collaborative tasks [10], [11], such that robots and humans are allowed to share the same workspace and physical injuries are avoided [12]- [14]. More generally, disturbance estimation is also popularly studied for feed-forward disturbance compensation control [8], [15], robust control [16], [17] or fault-tolerant control [18], [19] strategies for various mechatronic systems.…”
Section: Introductionmentioning
“…Moreover, by designing an observer with the quantized signal and using the more general hyperbolic tangent function inequality, the proposed control scheme has been extended to uncertain nonlinear cascade systems with quantized inputs. In our future work, one of the further effort is to achieve the output feedback control for more general uncertain nonlinear cascade systems with external disturbance, and to investigate the event-triggered control for uncertain nonlinear systems by referring the control strategy in the work of Sun et al 31 Another research interest in our future is to study the structural security of nonlinear systems based on the existing system identification strategies in the work of Yu et al, [32][33][34] the fault-tolerant estimation approach in the work of Wan and Keviczky, 35 and the security problem in the work of Wu and Sun. 36…”
Section: Discussionmentioning
“…It also enables to sufficiently exploit the advantages of both stand alone systems, such as UWB’s positioning accuracy does not change over time, and IMU’s short time positioning accuracy is extremely high [ 16 ]. Fusion of multiple sensors information and complete real-time fault diagnosis is currently the most popular solution [ 17 ].…”
Section: Introductionmentioning
“…In order to optimize or control these kind of realistic problems, the nonlinear complex systems are usually described by multiple simple models, such as linear models, bilinear models, Markov models, statistic models, and so on. Many research works have been done to identify the individual simple models and their connections that build up the nonlinear systems 1‐9 …”
Section: Introductionmentioning
“…The uncertainty factors can come from various resources, for example, modeling uncertainties, measurement uncertainties, and sampling uncertainties 19 . Detailed explanations can be found from previous studies 20-22 . Given the main focus of the proposed approach is improving the existing control system framework, the uncertainties are simplified to be a random disturbance on the state variables, as such an interpretation is incomprehensive but easier to implement.…”
Section: Introductionmentioning