.png){kind=icon}
返回
Disturbance observer based control for nonlinear systems
.png){kind=icon}
OA
AI
DOI：10.1109/TMECH.2004.839034.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
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.
Keyword:
composite controllers
control system design
disturbance attenuation
disturbance observers
nonlinear systems
stability
期刊
I
IF:
7.3
论文数:
5.4K
被引数:
2.4W
机构
暂无机构信息
引用论文
.png){kind=icon}
Pivot friction compensation using an accelerometer and a disturbance observer for hard disk drives使用加速度计和硬盘驱动器的干扰观测器进行枢轴摩擦补偿
PREAI
分享收藏IRON AND MANGANESE IN ANAEROBIC RESPIRATION: Environmental Significance, Physiology, and Regulation
PREAI
分享收藏 没有更多内容
没有更多内容