Showing 2025Show all
2 papers · 1 filter
cs.RO2025
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
Fan Zhang, Jinfeng Chen, Joseph J. B. Mvogo Ahanda +4
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinemati…
eess.SY2025
A Model-Based Extended State Observer for Discrete-Time Linear Multivariable Systems
Jinfeng Chen, Zhiqiang Gao, Qin Lin
In the absence of a detailed and accurate plant model, extended state observer (ESO) has been clearly shown as an effective tool in both control applications and theoretical analys…