A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing Control of a Single-wheel Robot

2018 ◽  
Author(s):  
Sang D. Lee ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Observer Design ◽  
Minimum Phase ◽  
Modeling Approach ◽  
Balancing Control

Robust State-and-Disturbance Observer Design for Linear Non-minimum-phase Systems

2015 ◽  
Vol 18 (3) ◽  
pp. 1135-1141 ◽  
Author(s):  
Min-Shin Chen ◽  
Shih-Yu Lin ◽  
Ming-Lei Tseng ◽  
Yi-Liang Yeh ◽  
Jia-Yush Yen
Keyword(s):  
Disturbance Observer ◽  
Observer Design ◽  
Minimum Phase ◽  
Phase Systems

scholarly journals Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wenru Fan ◽  
Bailing Tian
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Gain Adaptation ◽  
Chattering Reduction ◽  
Sliding Manifold

A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document