Related papers: A new active disturbance controller based on an im…

This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…

This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…

The development of disturbance estimators using extended state observers (ESOs) typically assumes that the system is observable. This paper introduces an improved method for systems that are initially unobservable, leveraging Taylor…

This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…

This study introduces a novel frequency-based data-driven controller for adaptive optics, using power spectral density for optimization while ensuring stability criteria. It addresses disturbance rejection, command amplitude constraints and…

This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…

This paper proposes an original solution to input saturation and dead zone of fractional order system. To overcome these nonsmooth nonlinearities, the control input is decomposed into two independent parts by introducing an intermediate…

The key idea of this contribution is the partial compensation of non-minimum phase zeros or unstable poles. Therefore the integer-order zero/pole is split into a product of fractional-order pseudo zeros/poles. The amplitude and phase…

When the order of an integrator is a complex number, the integrator is called a complex fractional order integrator (CFOI). The impulse response invariant discretization (IRID) method is proposed to approximately discretize the CFOI. The…

In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes. Using the equivalence,…

Modeling human operator's dynamic plays a very important role in the manual closed-loop control system, and it is an active research area for several decades. Based on the characteristics of human brain and behaviour, a new kind of…

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…

This paper is concerned with fault estimation in a class of nonlinear fractional order systems using a new super twisting algorithm based second order step by step sliding mode observer. Since the existing sliding mode observers are…

As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…

This paper deals with designing a robust fixed-order dynamic output feedback controller for uncertain fractional order linear time invariant (FO-LTI) systems by means of linear matrix inequalities (LMIs). Our purpose is to design a low…

This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…

This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…

This paper is concerned with the robust design for a class of switching systems from a fractional order control (FOC) perspective. In particular, the tuning of the robust fractional order PI (RFPI) controller is proposed based on phase…

Reset control is introduced to overcome limitations of linear control. A reset controller includes a linear controller which resets some of states to zero when their input is zero or certain non-zero values. This paper studies the…