# Combined ILC and Disturbance Observer for the Rejection of Near-Repetitive Disturbances, With Application to Excavation

##### Citations

207 citations

162 citations

### Cites methods from "Combined ILC and Disturbance Observ..."

...In addition, some uncertainty/disturbance observer-based control methods have also been investigated, such as timedelay-estimation-based nonsingular terminal sliding mode control [18], [19], disturbance observer-based backstepping control [20], iterative learning control (ILC) [21], and sliding mode control [22]....

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86 citations

### Cites background from "Combined ILC and Disturbance Observ..."

...trollers, such as nonlinear and iterative learning controllers, have been generally employed in the design of the robust controllers [87], [106], [107]....

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52 citations

### Cites methods from "Combined ILC and Disturbance Observ..."

...[11] used iterative learning control to predict the disturbance in the next dig cycle....

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46 citations

##### References

45,034 citations

### "Combined ILC and Disturbance Observ..." refers methods in this paper

...19 shows that the noise is colored so that the capacity of the continuous channel in bits/second can be computed by integrating the SNR over the spectrum [53] as...

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15,545 citations

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2,894 citations

### "Combined ILC and Disturbance Observ..." refers background in this paper

...The small gain theorem [38] guarantees that if ‖H ‖ < 1, then this loop is stable and if ‖H ‖ 1, it has negligible effect on the system response....

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2,645 citations

### "Combined ILC and Disturbance Observ..." refers background in this paper

...In ILC, there are two common system representations [7]:...

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