This paper aims at designing observer for single-input-single-output (SISO) linear finite-dimensional systems corrupted by general disturbances. A new observer, referred to as extended dynamics (EDO), is proposed estimate both state and disturbance simultaneously. The only assumption the design that plant with unknown observable. treated combination of high-gain internal model contained in dyna...

Abstract: In this paper, a time varying disturbance observer subject to sampled data’s measurements is proposed for a class of non-linear systems. The proposed observer combines the advantage of a high gain structure in terms of convergence speed and an output predictor which remains continuous between the sampling times. The exponential convergence of the proposed observer is proved using a Ly...

A proposed optimized model for the trajectory tracking control of a wheeled inverted pendulum robot (WIPR) system is presented in this study, which addresses problem poor performance presence unknown disturbances due to nonlinear and underactuated characteristics system. First, kinematic controller was used track reference generate law that specifies desired forward rotation speeds Next, distur...

In this paper, three disturbance compensation algorithms are experimentally evaluated considering the control problem of a rodless pneumatic cylinder. Despite its highly nonlinear dynamics, the pneumatic cylinder is modeled as a linear system including an unknown lumped disturbance. Three disturbance estimation algorithms are then employed to compensate for this lumped disturbance: the traditio...

This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering model parameter uncertainties and various disturbances, kinematic dynamic models system are established. Moreover, coordinate transformation is adopted to convert error into a new unconstrained state space model. On this basis, prescribed performance (P...

This paper deals with state estimation of micro tunable capacitor subjected to nonlinear electrostatic force. For this end a nonlinear observer has been designed for state estimation of the structure.  Necessary and sufficient conditions for construction of the observer are presented. Stability of the observer is checked using Lyapunov theorem. Observer design is based on converting of differen...

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...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...