Compound Disturbance Observer for Flight Simulator

2012 ◽  
pp. 197-205 ◽  
Author(s):  
Youmin Liu ◽  
Yong Deng ◽  
Dapeng Tian
Keyword(s):  
Disturbance Observer ◽  
Flight Simulator ◽  
Compound Disturbance

scholarly journals Research of Compound Controller for Flight Simulator with Disturbance Observer

2011 ◽  
Vol 24 (5) ◽  
pp. 613-621 ◽  
Author(s):  
Yunjie WU ◽  
Xiaodong LIU ◽  
Dapeng TIAN
Keyword(s):  
Disturbance Observer ◽  
Flight Simulator

scholarly journals Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Khanh G. Tran ◽  
Nam H. Nguyen ◽  
Phuoc D. Nguyen
Keyword(s):  
Linear System ◽  
Taylor Series ◽  
Model Uncertainty ◽  
Disturbance Observer ◽  
System Stability ◽  
Unknown Input ◽  
Input Disturbance ◽  
Equivalent Linear ◽  
Compound Disturbance ◽  
Equivalent Linear System

In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expansion for the nonlinear model of the TWIR at an equilibrium point, in which the nonlinear part of the Taylor series and the model uncertainty are combined with unknown input disturbance as compound input disturbance. Then, the compound input disturbance is estimated by using the Newton method and reference model. As the estimated compound disturbance is used to compensate for the compound disturbance, the equivalent linear system becomes closely definite without compound input disturbance. Finally, two controllers are proposed using the equivalent linear system. Stability analysis of the proposed control methods is also given. To illustrate the proposed methods, some simulations for the TWIR are performed and compared with the existing methods. The main contribution of this work includes the following: (i) simple controllers based on compound input disturbance observer for trajectory tracking and balancing of TWIRs with unknown input disturbance and model uncertainty are proposed; (ii) the stability of proposed closed-loop control systems is proved; (iii) our proposed methods are simulated and compared with the existing methods.

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