Disturbance Observer‐Based Input‐Output Finite‐Time Control of a Class of Nonlinear Systems

Liu, Leipo; Song, Xiaona; Fu, Zhumu; Song, Shuzhong

doi:10.1155/2017/7202584

Cited by 4 publications

(3 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Define Ŵ as an estimation of W * , the estimation error is W = W * − Ŵ . Therefore, the following controller is designed (24) with the adaptive law:…”

Section: A Position Controller Designmentioning

confidence: 99%

An Adaptive Robust Hybrid Force/Position Control for Robot Manipulators System Subject to Mismatched and Matched Disturbances

Lv,

Chen,

Zhao

et al. 2024

IEEE Access

View full text Add to dashboard Cite

A novel adaptive robust hybrid force/position control (ARHFPC) strategy is proposed for robot manipulator systems subject to dynamic uncertainties and unknown matched and mismatched disturbances under input saturation. First, the position controller is designed based on the backstepping approach. The first-order low-pass filter and the auxiliary dynamic system are synthesized into the controller to overcome the complex derivative operation of virtual control and handle the effect of input saturation, respectively. Radial basis function neural networks (RBFNNs) are utilized to approximate the dynamic uncertainties and matched disturbances. Then, a disturbance observer is designed for the mismatched disturbances. To enhance control accuracy of the interaction force between the end-effector and the external environment, a fuzzy proportional-integral (FPI) control scheme is presented. Theoretical analysis proves that all signals in the closed-loop control system of robot manipulators are locally uniformly ultimately bounded (UUB). Simulation results demonstrate the effectiveness and robustness of the proposed control scheme.

show abstract

“…Define Ŵ as an estimation of W * , the estimation error is W = W * − Ŵ . Therefore, the following controller is designed (24) with the adaptive law:…”

Section: A Position Controller Designmentioning

confidence: 99%

An Adaptive Robust Hybrid Force/Position Control for Robot Manipulators System Subject to Mismatched and Matched Disturbances

Lv,

Chen,

Zhao

et al. 2024

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Recently, the finite-time control has received much attention (Ding and Li, 2009; Li and Tian, 2003; Mobayen and Javadi, 2017; Polyakov et al, 2016; Wei and Zhang, 2009; Zhang et al, 2019), and some new results have been presented, such as finite-time stability (Ding and Li, 2009; Li et al, 2011; Liu et al, 2017; Polyakov et al, 2015; Wang et al, 2020; Zhang and Wei, 2021), input-to-state finite-time stability (Hong et al, 2008) and so on (Hu et al, 2021; Nie et al, 2021; Xi and Liu, 2021; Zhu et al, 2021). In Liu et al (2009), a finite-time control technique is proposed for permanent magnet synchronous motor position servo system by using backstepping method, where the external and internal disturbances are modelled as an equivalent disturbance.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based finite-time control for a class of systems with multiple heterogeneous disturbances

Zhang

Wei

Zhao

et al. 2022

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

The finite-time anti-disturbance control problem is studied for systems with multiple heterogeneous disturbances, which include the disturbance with partially known information and the external disturbance. A disturbance observer is designed to online estimate the disturbance with partially known information. Based on this, a disturbance observer–based finite-time control (DOBFTC) scheme is presented by combining disturbance observer–based control (DOBC) with finite-time control method to guarantee that the composite system is globally finite-time stable. Two simulation examples including a numerical example and a doubly fed induction generators (DFIG) system are given to show the effectiveness of the proposed method compared with the existing schemes.

show abstract

“…However, these design results can only realize disturbance attenuation but not disturbance rejection. In order to improve closed-loop control performance, the disturbance observerbased control [23][24][25][26][27][28][29][30][31] and active disturbance rejection control [32][33][34][35][36][37][38][39] have been developed for drag-free satellite to pursue more ideal control system performance [25,[40][41][42][43][44][45][46][47][48][49][50]. However, how to design a suitable observer to estimate the disturbances more precisely is still an open and attractive problem [51].…”

Section: Introductionmentioning

confidence: 99%

Relative Position Model Predictive Control of Double Cube Test-Masses Drag-Free Satellite with Extended Sliding Mode Observer

Wang

Zhang

et al. 2021

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The drag-free satellites, being space-borne ultrahigh precise measurement platforms, have played irreplaceable roles in a great number of space science missions such as navigation, earth science, fundamental physics, and astrophysics. Most of these missions have to be performed based on the satellites placed with double cube test-masses, which makes the satellite layout and control strategy be more complex. This paper investigates the orbit keeping control problem of a class of low Earth orbit drag-free satellites with double cube test masses. A disturbance observer-based composite control method is proposed, which consists of an extended sliding mode observer and the tube-based robust model predictive control approach. In this design, the observer is proposed to estimate the relative position and velocity of the satellite and the external space disturbance force. A tube-based robust model predictive control scheme is then developed to stabilize the satellite orbit control systems in the presence of actuator saturation, state constraints, and additive stochastic noises. Finally, a simulation example is presented to demonstrate the efficacy and superiority of the proposed orbit control method.

show abstract

Disturbance Observer‐Based Input‐Output Finite‐Time Control of a Class of Nonlinear Systems

Cited by 4 publications

References 24 publications

An Adaptive Robust Hybrid Force/Position Control for Robot Manipulators System Subject to Mismatched and Matched Disturbances

An Adaptive Robust Hybrid Force/Position Control for Robot Manipulators System Subject to Mismatched and Matched Disturbances

Disturbance observer–based finite-time control for a class of systems with multiple heterogeneous disturbances

Relative Position Model Predictive Control of Double Cube Test-Masses Drag-Free Satellite with Extended Sliding Mode Observer

Contact Info

Product

Resources

About