Disturbance Observer Based Control for an Underwater Biomimetic Vehicle-Manipulator System with Mismatched Disturbances

2021 ◽  
Author(s):  
Jiaqi Lv ◽  
Yu Wang ◽  
Shuo Wang ◽  
Rui Wang ◽  
Long Cheng ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
Mismatched Disturbances

scholarly journals Disturbance observer-based control for nonlinear systems subject to mismatched disturbances with application to hypersonic flight vehicles

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769914 ◽  
Author(s):  
Yunling Li ◽  
Ming Zeng ◽  
Hao An ◽  
Changhong Wang
Keyword(s):  
Nonlinear Systems ◽  
Disturbance Observer ◽  
State Of The Art ◽  
Output Channel ◽  
Tracking Problem ◽  
Gain Matrix ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Nominal Performance ◽  
Mismatched Disturbances

For a class of multi-input multi-output nonlinear systems, a disturbance observer-based control is proposed to solve the tracking problem in the presence of mismatched disturbances. By designing a novel compensation gain matrix, the disturbances can be removed from the output channel completely as well as retaining the nominal performance. Compared with the state of the art, the gain matrix reduces to be constant; therefore, the complexity of the controller is simplified greatly. This method is applied to the control of hypersonic flight vehicles to demonstrate its effectiveness.

Disturbance observer based iterative learning control method for a class of systems subject to mismatched disturbances

2016 ◽  
Vol 39 (11) ◽  
pp. 1749-1760 ◽  
Author(s):  
Jiankun Sun ◽  
Shihua Li
Keyword(s):  
Iterative Learning Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Simulation Analysis ◽  
Permanent Magnet Synchronous Motor ◽  
Learning Control ◽  
Iterative Learning ◽  
Closed Loop System ◽  
Practical Engineering ◽  
Mismatched Disturbances

This paper develops a systematic iterative learning control (ILC) strategy for systems with mismatched disturbances. The systems with mismatched disturbances are more general and widely exist in practical engineering, where the standard disturbance observer based ILC method is no longer available. To this end, this note proposes a novel ILC scheme based on the disturbance observer, which consists of two parts: a baseline ILC term for stabilizing the nominal system and a disturbance compensation term for attenuating mismatched disturbances by choosing an appropriate compensation gain. It is proven that the performance of the closed-loop system is effectively improved. Finally, the simulation analysis for a permanent-magnet synchronous motor servo system demonstrates the feasibility and efficacy of the proposed method.

scholarly journals Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

2021 ◽  
Vol 11 (17) ◽  
pp. 8158
Author(s):  
Duc Giap Nguyen ◽  
Duc Thien Tran ◽  
Kyoung Kwan Ahn
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Target System ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbances

This work presents a new disturbance observer-based chattering-attenuated terminal sliding mode control for a class of nonlinear systems in the presence of both mismatched and matched disturbances. A nonlinear disturbance observer is typically employed to accurately estimate mismatched disturbances. In this study, a terminal sliding mode control was designed, based on the disturbance estimation results, to counter the effects of disturbances and ultimately stabilize the target system. The utilization of a chattering-attenuated full-order terminal sliding mode structure satisfactorily resolves both chattering and singularity problems in controller design. It was shown by theoretical analyses that both the disturbance estimation error and the system state converge to the equilibrium point in finite time. Two simulation studies, namely a numerical example and an application to an electro hydrostatic actuator system, were conducted to examine the characteristics and to verify the effectiveness of the proposed algorithm.

Sign in / Sign up

Export Citation Format

Share Document