相关论文: Immersion and Invariance-based Disturbance Observe…

This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…

In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…

Grasping and releasing objects would cause oscillations to delivery drones in the warehouse. To reduce such undesired oscillations, this paper treats the to-be-delivered object as an unknown external disturbance and presents an image-based…

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…

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…

In this paper, a high-order nonlinear continuous integral-derivative observer is presented based on finite-time stability and singular perturbation technique. The proposed integral-derivative observer can not only obtain the multiple…

This paper presents novel polytopic and interval observer designs for uncertain linear continuous-time (CT) and discrete-time (DT) systems subjected to bounded disturbances and noise. Our approach guarantees enclosure of the true state and…

We present a geometric approach to designing distributed unknown input observers (DUIOs) for linear time-invariant systems, where measurements are distributed across nodes and each node is influenced by \emph{unknown inputs} through…

It is often difficult to obtain sufficient training data for adaptive signal detection, which is required to calculate the unknown noise covariance matrix. Additionally, interference is frequently present, which complicates the detecting…

This paper proposes a linear input-output observer design methodology for a population of systems in which each observer uses knowledge of the linear time-invariant dynamics of the particular device. Observers are typically composed of a…

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…

This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…

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…

Achieving high-precision control for robotic systems is hindered by the low-fidelity dynamical model and external disturbances. Especially, the intricate coupling between internal uncertainties and external disturbances further exacerbates…

The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but…

We have demonstrated broadband frequency-noise suppression in a laser stabilization system by augmenting a conventional proportional-integral-derivative (PID) controller with a digital disturbance observer (DOB) implemented on a…

This paper develops systematically the output feedback exponential stabilization for a one-dimensional unstable/anti-stable wave equation where the control boundary suffers from both internal nonlinear uncertainty and external disturbance.…

In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…

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.…

Linear models with additive unknown-but-bounded input disturbances are extensively used to model uncertainty in robust control systems design. Typically, the disturbance set is either assumed to be known a priori or estimated from data…