相关论文: IEEEICM25: "A High-Performance Disturbance Observe…

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…

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…

Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…

This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…

This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…

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…

We present a new scheme to detect and visualize oscillations of a single quantum system in real time. The scheme is based upon a sequence of very weak generalized measurements, distinguished by their low disturbance and low information…

This paper proposes a simple interval observer which can generate tighter interval estimates of variables in transient states than the standard interval observer. The simple nonlinear dynamics shrinks the estimated intervals to true state…

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…

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…

This paper considers the observer design problem for discrete-time nonlinear dynamical systems with sampled measurement data. Earlier, the recently proposed Iteratively Preconditioned Gradient-Descent (IPG) observer, a Newton-type observer,…

We present a new approach for deriving sampled-data observers from continuous-time observers that feature an Input-to-Output Stability property with respect to the output measurement noise and exponential convergence in the noiseless case.…

The development of disturbance estimators using extended state observers (ESOs) typically assumes that the system is observable. This paper introduces an improved method for systems that are initially unobservable, leveraging Taylor…

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…

Pedestrian safety continues to be a significant concern in urban communities and pedestrian distraction is emerging as one of the main causes of grave and fatal accidents involving pedestrians. The advent of sophisticated mobile and…

Steer-by-Wire systems replace mechanical linkages, which provide benefits like weight reduction, design flexibility, and compatibility with autonomous driving. However, they are susceptible to high-frequency disturbances from unintentional…

In high-renewable power systems, active-power disturbances are becoming larger and exhibit increasingly diverse time scales, which complicates frequency stability assessment under unanticipated events. This paper presents a response-based…

This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview…

This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…

Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…