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Title: Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
Authors: Chen, Wen-Hua
Issue Date: 2018
Publisher: © South China University of Technology, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature
Citation: CHEN, W-H., 2018. Development of nonlinear disturbance observer based control and nonlinear PID: A personal note. Control Theory and Technology, 16(4), pp. 284 - 300.
Abstract: This paper gives an overview of early development of nonlinear disturbance observer design technique and the Disturbance Observer Based Control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action).
Description: This paper is in closed access until 9th Nov 2019.
Version: Accepted for publication
DOI: 10.1007/s11768-018-8135-9
URI: https://dspace.lboro.ac.uk/2134/37055
Publisher Link: https://doi.org/10.1007/s11768-018-8135-9
ISSN: 2095-6983
Appears in Collections:Closed Access (Aeronautical and Automotive Engineering)

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