A disturbance observer based tracking control algorithm is presented in this paper. The key idea of the proposed method is that the plant nonlinearities and parameter variations can be lumped into a disturbance term. The lumped disturbance signal is estimated based on a plant dynamic observer. A state observer then corrects the disturbance estimation in a two-step design. First, a Lyapunov-base...

Abstract Integral observers are useful tools for estimating the plant states in the presence of non-vanishing disturbances resulting from plant-model mismatch and exogenous disturbances. It is well known that these observers can eliminate bias in all states, given that as many independent measurements are available as there are independent sources of disturbance. In the most general case, the d...

Dynamic uncertainties and unknown disturbances will degrade the tracking performance of robots. When using a disturber observer-based controller, key to effectively compensate for these is measure or estimate as accurately possible any disturbance. To relax restrictions on design current nonlinear disturbance observer robot, universal proposed higher estimation performance. The stability theore...