Disturbance Observer Based Control for Nonlinear Systems

High Gain Disturbance Observer-Based Control for Nonlinear Affine Systems

This paper proposes a high gain disturbance observer based control approach for nonlinear systems. Compared with previous works, it can admit a much larger class of disturbances produced by nonlinear exo‐systems. Our approach will follow the framework of the two‐stage design procedure, which separates the disturbance observer design from the controller desi...

Disturbance Observer Based Control of Nonlinear Haptic Teleoperation Systems

Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and exte...

Nonlinear disturbance observer-based control for multi-input multi-output nonlinear systems subject to mismatching condition

A Variable Structure Observer Based Control Design for a Class of Large scale MIMO Nonlinear Systems

This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...

Disturbance Observer-based Trajectory following Control of Nonlinear Robotic Manipulators

Robotic manipulators are highly nonlinear and coupled dynamic systems, which may be subject to different types of unknown disturbances such as joint frictions and end-effector external payloads. Such disturbances, when unaccounted for, cause poor tracking performance of the robot and may even destabilize the robot control system. In this paper we propose a novel nonlinear control scheme for rob...