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A variant of super-twisting differentiator is proposed. Global Lyapunov function is designed and an estimate on finite time of derivatives estimation is given. The differentiator is equipped with hybrid adaptation algorithm that ensures global differentiation ability independently on amplitude of the differentiated signal and measurement noise.
This paper proposes a composite control approach based on the robust feedback linearization and Extended Kalman Filter (EKF) to improve the tracking performance for the flexible link manipulators in the presence of torque disturbances. In this regard, first an EKF is employed to estimate the disturbances, utilizing the uncertain nonlinear model of flexible link system in addition to noisy measurement...
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