Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

Voltage Control and Load Sharing in a DC Islanded Microgrid Based on Disturbance Observer

Increasing DC loads along with DC nature of distributed energy resources (DERs) raises interest to DC microgrids. Conventional droop/non-droop power-sharing in microgrids suffers from load dependent voltage deviation, slow transient response, and requires the parameters of the loads, system and DERs connection status. In this paper, a new nonlinear decentralized back-stepping control strategy f...

Time-domain Approaches for Input Disturbance Observer

In the paper, algorithms for disturbance observers are newly presented in the time-domain. Attention is paid to observing a ramp disturbance by introducing an integral term to the output equation of a constant disturbance observer. In order to reduce the sensitivity to the measurement noise, the disturbance observer is combined with the state observer. It will be shown that the estimation dynam...

Passivity-based versus Disturbance Observer Based Robot Control: Equivalence And

Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of...

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

Disturbance-Observer-Based Control and Related Methods - An Overview