Disturbance observer based control for nonlinear systems
By Wenhui Chen. IEEE/ASME transactions on mechatronics, 2004
1,409 citations recorded by the source corpus.
This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance observer is developed for disturbances generated by an exogenous system, and global exponential stability is established under certain condition. Furthermore, semiglobal stability condition of the composite controller consisting of a nonlinear controller and the nonlinear disturbance observer is established. The developed method is illustrated by the application to control of a two-link robotic manipulator.
Subfields: Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/edb6bdef3368d22049565f09968045d8b2e7ce0c
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Control and Systems Engineering
Citations in the corpus
- Adaptive Speed Control for Permanent-Magnet Synchronous Motor System With Variations of Load Inertia (2009, background): “, robotic systems [5], hard disk drive systems [44], general motion control systems [7], [8], [27], [28], inverted-pendulum systems [19], missile systems [6], PMSM systems [20]–[22], other kinds of motor systems [40], and general control systems [2], [7], [8], [13], [23].”
- Disturbance-observer-based robust control for time delay uncertain systems (2010, background): “Chen [24] presented a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques.”
- Overview and Comparison of Modulation and Control Strategies for a Nonresonant Single-Phase Dual-Active-Bridge DC–DC Converter (2020, background): “Based on this current sensorless strategy, îo with accurate circuit parameters for the jth switching period can be expressed as îo(j) = z(j)− lUo(j) (25) where z is the inner state variable of NDO and l is the parameter related to the convergence rate, and z(j) can be expressed as z(j) = ( 1− lTs ”
- Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer (2013, background): “In the recent years, different disturbance observers have been developed to explore the information about the characteristic of the time-varying external disturbances [55]–[57].”
- Sliding mode control for a class of uncertain nonlinear system based on disturbance observer (2009, background): “Chen [19] presented a general framework for nonlinear systems subject to disturbances using disturbance observer-based control (DOBC) techniques.”
- On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications (2016, background): “[22]) is a special case of Type II disturbance.”
- Consensus of second‐order multi‐agent systems with exogenous disturbances (2011, positive): “[24, 25] developed a disturbance observer-based control (DOBC) for unknown constant and applied it to a two-link manipulator.”
- Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey (2017, methodology): “The nonlinear disturbance observer (NDOB) is designed as [56]”
- Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. (2013, methodology): “The general framework was given for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques [27].”
- Adaptive Neural Fault-Tolerant Control of a 3-DOF Model Helicopter System (2016, background): “The general framework was studied for the DOBC of nonlinear systems in [43].”
- Disturbance-Observer-Based Control and Related Methods—An Overview (2016, methodology): “It has been shown in [34] that the NDOB (28) can exponentially estimate the disturbances if the nonlinear observer gain l(x) is selected such that ėξ = [W − l(x)g2(x)V ]eξ is globally exponentially stable regardless of x.”
- Design and Implementation of Terminal Sliding Mode Control Method for PMSM Speed Regulation System (2013, background): “Firstly, the PMSM servo system is nonlinear, time-varying, and complex system with unavoidable and unmeasured disturbances, as well as parameter variations.”