Abstract
In this work, tremor is treated as disturbance, and a very general kind of disturbance observer based on Lyapunov energy theory has been proposed for robotic disturbance estimator and more generally for nonlinear state variable systems. The disturbance observer dynamics is based on the instantaneous state and not on its derivative. This guarantees easy implementation.
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Parthasarathy, H., Agarwal, V., Agarwal, R. (2019). Tremor Observer Models and Tremor Rejection Methods for Robotic Surgery. In: Mishra, S., Sood, Y., Tomar, A. (eds) Applications of Computing, Automation and Wireless Systems in Electrical Engineering. Lecture Notes in Electrical Engineering, vol 553. Springer, Singapore. https://doi.org/10.1007/978-981-13-6772-4_110
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DOI: https://doi.org/10.1007/978-981-13-6772-4_110
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