255 citations · 316 across the 11 of their papers we have counts for
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An Improved Active Disturbance Rejection Control for a Differential Drive Mobile Robot with Mismatched Disturbances and Uncertainties
Ibraheem Kasim Ibraheem, Wameedh Riyadh Abdul-Adeem
In this paper a new strategy based on disturbance and uncertainty (DU) estimation and attenuation technique is proposed and tested on the nonlinear kinematic model of the different…
A Novel Second-Order Nonlinear Differentiator With Application to Active Disturbance Rejection Control
Ibraheem Kasim Ibraheem, Wameedh Riyadh Bdul-Adheem
A Second-order Nonlinear Differentiator (SOND) is presented in this paper. By combining both linear and nonlinear terms, this tracking differentiator shows better dynamical perform…
Model-Free Active Input-Output Feedback Linearization of a Single-Link Flexible Joint Manipulator: An Improved ADRC Approach
Wameedh Riyadh Abdul Adheem, Ibraheem Kasim Ibraheem
Traditional Input-Output Feedback Linearization (IOFL) requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system's uncertainties. In…