Danny Grignion

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This paper presents multiple methods for the design of a robust disturbance torque estimator. The benefit of these designs is that they ensure robust estimation in the presence of model uncertainties and/or noise. It is shown that these estimation schemes can be used to estimate both constant and nearly constant disturbance torques. In order to design the(More)
This paper introduces a method to achieve robust disturbance torque estimation in discrete time. H<sub>-</sub>/&#x210B;<sub>&#x221E;</sub> theory is applied in this design to realize both accurate estimation and robustness to model uncertainty. This robust estimator is designed to estimate constant disturbance torques and disturbance torques that vary with(More)
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