Chen_IEEE_ASME_Trans_Mechatronics_2006.pdf (200.02 kB)
Disturbance observer based control for nonlinear systems
This paper 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.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Citation
CHEN, W-H., 2006. Disturbance observer based control for nonlinear systems. IEEE/ASME Transactions on Mechatronics, 9 (4), pp. 706-710 [10.1109/TMECH.2004.839034]Publisher
© IEEEPublication date
2006Notes
This article was published in the journal, IEEE / ASME Transactions on Mechatronics. [© IEEE] and is also available at: http://ieeexplore.ieee.org/Xplore/dynhome.jsp Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.ISSN
1083-4435Language
- en