Related papers: AMC'24 "Analysis and Synthesis of the Disturbance …
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
This paper proposes a novel Disturbance Observer, termed the High-Performance Disturbance Observer, which achieves more accurate disturbance estimation compared to the conventional disturbance observer, thereby delivering significant…
Robust time-varying formation design problems for second-order multi-agent systems subjected to external disturbances are investigated. Firstly, by constructing an extended state observer, the disturbance compensation is estimated, which is…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
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…
In this expository paper, which covers material presented at the NATO Advanced Study Institute "Nonlinear Analysis, Differential Equations, and Control" (Montreal, Jul/Aug 1998), we deal with several questions related to stability and…
For linear control systems, the usual state feedback stabilizability has two components: one is a continuous observation mode (i.e., to observe solutions continuously in time), and the other is a class of feedback laws (which is usually the…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…