A new nonlinear robust disturbance observer

Chen, Xinkai; Fukuda, Toshio; Young, K. David

doi:10.1016/s0167-6911(00)00056-6

Cited by 52 publications

(30 citation statements)

References 12 publications

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“…Over the past few decades, a considerable number of studies have been devoted to the estimation and rejection of an unknown disturbance. A disturbance observer (DOB) is commonly used for disturbance rejection (Chen et al, 2000;Miyazaki et al, 2006). They often implicitly assume that an equivalent input disturbance (EID) exists on the control input channel, but the design of the low-pass filter is frequently complicated because it has to guarantee both the causality of the DOB and the stability of the whole system.…”

Section: Introductionmentioning

confidence: 99%

Robust aperiodic-disturbance rejection in an uncertain modified repetitive-control system

Zhou

She

et al. 2016

International Journal of Applied Mathematics and Computer Science

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This paper concerns the problem of designing an EID-based robust output-feedback modified repetitive-control system (ROFMRCS) that provides satisfactory aperiodic-disturbance rejection performance for a class of plants with time-varying structured uncertainties. An equivalent-input-disturbance (EID) estimator is added to the ROFMRCS that estimates the influences of all types of disturbances and compensates them. A continuous-discrete two-dimensional model is built to describe the EID-based ROFMRCS that accurately presents the features of repetitive control, thereby enabling the control and learning actions to be preferentially adjusted. A robust stability condition for the closed-loop system is given in terms of a linear matrix inequality. It yields the parameters of the repetitive controller, the output-feedback controller, and the EID-estimator. Finally, a numerical example demonstrates the validity of the method.

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Section: Introductionmentioning

confidence: 99%

Robust aperiodic-disturbance rejection in an uncertain modified repetitive-control system

Zhou

She

et al. 2016

International Journal of Applied Mathematics and Computer Science

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“…It was tested on a 2-DOF robot. Different approaches based on robustly stable disturbance observers [27][28][29][30][31] have focused on avoiding the smaller stability margins of the disturbance observers during motion control [32]. A force observer is presented in [33], where it is demonstrated that for small accelerations the external force is proportional to the observation error as long as the model is accurate.…”

Section: Introductionmentioning

confidence: 99%

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

Sol

King

Scott

et al. 2014

International Journal of Advanced Robotic Systems

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This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of -and need forforce feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

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“…The DOB methods are concerned with disturbance estimation and have been widely used in many applications. In [26,27] linear minimum phase systems were investigated. In [28,29] a class of strict-feedback form systems with nonlinear uncertainties satisfying matching condition were treated.…”

Section: Introductionmentioning

confidence: 99%

Semiglobal robust backstepping output tracking for strict-feedback form systems with nonlinear uncertainty

Yao

Zhong

2011

Int. J. Control Autom. Syst.

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Output tracking controller design problem is dealt with for a class of nonlinear systems in strict-feedback form in the presence of time-varying nonlinear uncertainties and unmodeled dynamics with multi-operation points. A new method based on signal compensation is proposed to design a robust controller, which consists of a nominal controller and a robust compensator. It is shown that semiglobal robust tracking property can be achieved. A new feature of our results is that the controller is a linear and time-invariant one and "explosion of complexity" problem is avoided.

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A new nonlinear robust disturbance observer

Cited by 52 publications

References 12 publications

Robust aperiodic-disturbance rejection in an uncertain modified repetitive-control system

Robust aperiodic-disturbance rejection in an uncertain modified repetitive-control system

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

Semiglobal robust backstepping output tracking for strict-feedback form systems with nonlinear uncertainty

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