A robust two-degree-of-freedom control scheme is proposed for permanent magnet synchronous motor PMSM using extended state observer ESO . The robustness is achieved based on the ESO. Parameter perturbation and external disturbances in PMSM drive system are treated as disturbance variable, and then the motion model of PMSM is transformed into an extended state model by introducing this disturban...

The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H∞ output feedback synthesis is developed in the hybrid setting, covering collision phenomena. Sufficient conditions are presented to ensure internal asymptotic stability while also attenuating external disturbances and plant uncertainties. The de...

This paper considers the position control problem of nonholonomic mobile robots with plant uncertainties and external disturbances. A robust passivity-based controller using fuzzy logic is proposed based on the reduced-form dynamic model of nonholonomic systems. The fuzzy logic system, whose parameters are tuned on-line, is introduced to learn the unknown (uncertain) plant dynamics due to the u...

The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H∞ output feedback synthesis is developed in the hybrid setting, covering collision phenomena. Sufficient conditions are presented to ensure internal asymptotic stability while also attenuating external disturbances and plant uncertainties. The de...