Yeonho Ko

Acceleration Measurement-Free Dissipative Disturbance Observer for Robotic Manipulators

In this letter, we propose an Acceleration Measurement-Free Dissipative Disturbance Observer (AFDDO) for robotic manipulators, designed to estimate external disturbances robustly without requiring angular acceleration measurements and matrix inversion. By leveraging dissipativity theory, the AFDDO a