Related papers: Observer-Based Active Fault/Disturbance Compensati…
This is the second part of four series papers, aiming at the problem of sensor dynamics compensation for abstract linear systems. Two major issues are addressed. The first one is about the sensor dynamics compensation in system observation…
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…
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…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
This paper develops a new active fault tolerant control system based on the concept of analytical redundancy. The novel design consists of an observation filter based fault detection and identification system integrated with a nonlinear…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
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.…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
In this paper, a novel control strategy namely disturbance observer-based control is first applied to stabilization and disturbance rejection for an anti-stable stochastic heat equation with Neumann boundary actuation and unknown boundary…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault…
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 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…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
This is the first part of four series papers, aiming at the problem of actuator dynamics compensation for linear systems. We consider the stabilization of a type of cascade abstract linear systems which model the actuator dynamics…
There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…