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Disturbance Observer Based Control for Nonlinear Systems
Open accessAbstract
This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance observer is developed for disturbances generated by an exogenous system, and global exponential stability is established under certain condition. Furthermore, semiglobal stability condition of the composite controller consisting of a nonlinear controller and the nonlinear disturbance observer is established. The developed method is illustrated by the application to control of a two-link robotic manipulator.
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Cited by
Chen, M., Tao, G., & Jiang, B. (2015) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2014.2360933 · Cited by 508
Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer
He, W., Yan, Z., Sun, C., & Chen, Y. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2720801 · Cited by 328
Adaptive Neural Control of Uncertain Nonlinear Systems Using Disturbance Observer
Chen, M., Shao, S.-Y., & Jiang, B. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2667680 · Cited by 292
Xu, Z., Sun, C., Hu, X., Liu, Q., & Yao, J. (2023) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2023.3236114 · Cited by 113
Han, Q., Liu, Z., Su, H., & Liu, X. (2023) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2022.3224167 · Cited by 75
Metadata
- Authors
- Chen, W.-H.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2004-12
- Volume
- 9
- Issue
- 4
- Pages
- 706-710
- ISSN
- 1083-4435 (ISSN-L)
- OpenAlex
- W2107122393
- Cited by
- 1,452
- References
- 0
- FWCI
- 4.28
- Type
- journal article
- Language
- en
- Open access
- green
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