相关论文: Disturbance Observer
This paper investigates the boundedness of the Disturbance Observer (DO) for linear discrete-time systems. In contrast to previous studies that focus on analyzing and/or designing observer gains, our analysis and synthesis approach is based…
This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the observer nominal model, DW-DOB cleanly…
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…
Output feedback stabilization of control systems is a crucial issue in engineering. Most of these systems are not uniformly observable, which proves to be a difficulty to move from state feedback stabilization to dynamic output feedback…
This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a class of exogenous disturbances. While PID control cannot be…
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…
This paper investigates robust synchronization for multi-agent systems (MASs) governed by parabolic partial differential equations in the presence of both observable and unobservable disturbances. Using only boundary output measurements, a…
The work presented here addresses the issue of tuning PD controllers for controlling integrating plus dead-time (IPDT) processes using settling time and gain and phase margin specifications. Tuning formulae are derived for PD controller…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…
The paper shows that positive linear systems can be stabilized using positive Luenberger-type observers. This is achieved by structuring the observer as monotonically converging upper and lower bounds on the state. Analysis of the…
We investigate the regulator problem (tracking and disturbance rejection) for a system (plant) described by a boundary controlled anti-stable linear one-dimensional Schrodinger equation, using the backstepping approach. The output to be…
We consider the problem of output feedback stabilization in linear systems when the measured outputs and control inputs are subject to event-triggered sampling and dynamic quantization. A new sampling algorithm is proposed for outputs which…
In this paper, we address the problem of robust stability for uncertain sampled-data systems controlled by a discrete-time disturbance observer (DT-DOB). Unlike most of previous works that rely on the small-gain theorem, our approach is to…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
We study the output feedback exponential stabilization of a one-dimensional unstable wave equation, where the boundary input, given by the Neumann trace at one end of the domain, is the sum of the control input and the total disturbance.…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…