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Design of Unknown Input Estimator with Artificial Bee Colony Algorithm

We propose a design method of a recently developed unknown-input estimator (UIE) with Artificial Bee Colony (ABC) algorithm. The design of the UIE requires two weight matrices to compute two gain matrices. To determine the weight matrices using the ABC algorithm, we devise an appropriate objective function in that disturbance estimation in discrete-time is taken into account. The proposed method is applied to the design of the UIE for a control system of a three-link manipulator. The experimental results show that the designed UIE effectively estimates and compensates for disturbances.