Related papers: Immersion and Invariance-based Disturbance Observe…
This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the…
The safety monitoring for nonlinear dynamical systems with embedded neural network components is addressed in this paper. The interval-observer-based safety monitor is developed consisting of two auxiliary neural networks derived from the…
This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class of nonlinear systems with nonlinear parameterization in the ISS framework. Under some mild assumptions, a novel I&I adaptive control algorithm is…
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…
This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
This paper presents a new observer design approach for linear time invariant multivariable systems subject to unknown inputs. The design is based on a transformation to the so-called special coordinate basis. This form reveals important…
This paper proposes a new fraction-order active disturbance rejection controller based on an improved fraction-order extended state observer (IFESO) for a class of fraction-order systems. Applying the IFESO, the fraction-order system can be…
In this paper, we consider a secure distributed filtering problem for linear time-invariant systems with bounded noises and unstable dynamics under compromised observations. A malicious attacker is able to compromise a subset of the agents…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
In this chapter, we introduce two interval observer designs for discrete-time (DT) and continuous-time (CT) nonlinear systems with bounded Jacobians that are affected by bounded uncertainties. Our proposed methods utilize the concepts of…
In this paper, we present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
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…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
This paper deals with the problem of predicting the future state of discrete-time input-delayed systems in the presence of unknown disturbances that can affect both the state and the output equations of the plant. Since the disturbance is…
Efficiently estimating system dynamics from data is essential for minimizing data collection costs and improving model performance. This work addresses the challenge of designing future control inputs to maximize information gain, thereby…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…