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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 article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
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…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
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.…
An observer framework is presented for robust regulation of RF cavity fields and localized identification of disturbances in RF systems. A standard cavity field observer is augmented with additional states to estimate the evolution of…
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…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
Reliable and robust positioning of radio devices remains a challenging task due to multipath propagation, hardware impairments, and interference from other radio transmitters. A frequently overlooked but critical factor is the agent itself,…
This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the…
Exponentially stable extended adaptive observer is proposed for a class of linear time-invariant systems with unknown parameters and overparameterization. It allows one to reconstruct unmeasured states and bounded external disturbance…
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
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…
Relying on recent research results on Neural ODEs, this paper presents a methodology for the design of state observers for nonlinear systems based on Neural ODEs, learning Luenberger-like observers and their nonlinear extension…
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…
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…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…