Related papers: Extended Dynamics Observer for Linear Systems with…
This paper studies the problem of designing sampled-data observers and observer-based, sampled-data, output feedback stabilizers for systems with both discrete and distributed, state and output time-delays. The obtained results can be…
We study the output feedback exponential stabilization of a one-dimensional unstable wave equation, where the boundary input, given by the Neumann trace at one end of the domain, is the sum of the control input and the total disturbance.…
The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed…
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the…
This paper presents a novel nonlinear (reset) disturbance observer for dynamic compensation of bounded nonlinearities like hysteresis in piezoelectric actuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novel Constant-gain…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
In this article, we investigate the problem of exponential stabilization via output feedback for a cascaded system composed of an ordinary differential equation (ODE) and a wave partial differential equation (PDE) under boundary control.…
The paper shows that positive linear systems can be stabilized using positive Luenberger-type observers. This is achieved by structuring the observer as monotonically converging upper and lower bounds on the state. Analysis of the…
We complete the first step towards the resolution of several decades-old challenges in disturbance-robust adaptive control. For a scalar linear system with an unknown parameter for which no a priori bound is given, with a disturbance that…
In this paper, linear and nonlinear event-triggered extended state observers are designed for a class of uncertain stochastic systems driven by bounded and colored noises. Two event-generators with an ensured positive minimum inter-event…
We consider the problem of output feedback stabilization in linear systems when the measured outputs and control inputs are subject to event-triggered sampling and dynamic quantization. A new sampling algorithm is proposed for outputs which…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…