Robust backstepping control for a class of nonlinear systems using generalized disturbance observer

Wang, Jiang; He, Shaoming; Lin, Defu

doi:10.1007/s12555-014-0401-0

Cited by 21 publications

(2 citation statements)

References 35 publications

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“…Reference [12] raised a robust nonactive nonlinear observer to rebuild the velocities and second-step varying disturbances. e nonlinear disturbance observer was employed to distinguish undetermined environmental disturbances in [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Xia

Zhang

2022

Mathematical Problems in Engineering

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In this paper, a finite-time controller is proposed for dynamic positioning vessels with error constraints and prescribed performance. A nonlinear observer is employed to give the estimations of the unknown disturbances containing an uncertain model, and the estimation errors converge to the equilibrium point in a finite time. A finite-time controller is developed based on the nonlinear observer. Finally, the effectiveness of the proposed control strategies is demonstrated by simulation.

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Section: Introductionmentioning

confidence: 99%

Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Xia

Zhang

2022

Mathematical Problems in Engineering

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“…In the inertia phase, the drive chain can be simplified as a dual-inertia system, which includes generalized disturbances comprising random disturbance load, model error, and model uncertainty. 10,11 The random disturbance load exhibits high amplitude, high variance, low frequency, and high energy, which can severely affect the shift smoothness. Owing to the simplification of the non-linear components in the drive chain, modelling errors between the established system model and the existing controlled object will adversely affect the designed controller and cause shift shock.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control in the inertia phase for generalised disturbance

Guoxiang

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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To solve the problem of shift shock during the inertia phase caused by generalized disturbances in wheel loaders and other construction instruments, a robust double closed-loop tracking control method based on an improved disturbance observer (DOB) has been proposed. In this method, the inner loop robustly suppresses disturbance and the outer loop realizes trajectory tracking. The improved DOB based on a nominal disturbance value (NDV) can enhance the disturbance suppression ability of the inner loop when a large part of the generalized disturbance is determinable. The model matching method transforms the outer loop into a transfer function to meet the expected performance. A disturbance compensation controller eliminates the nominal disturbance in the system. A feedforward compensation controller eliminates the influence of reference inputs in the system. Considering the inertia phase of a fixed-axis automatic transmission of a wheel loader, the proposed method was applied to the driveline simulation platform of a specific type of wheel loader. Random loads under actual working conditions were considered as the input load of the simulation platform. The simulation results indicated that the DOB based on the NDV method has better disturbance suppression capability, more accurate tracking capability and smaller shift shock than the conventional DOB method. The proposed control method exhibits robustness under 10%, 50% and 90% of the maximum load. The highest shift shock is 4.94% of the manual shift shock and it is effectively reduced. Thus, robust and smooth inertia phase shift control of the automatic transmission can be realized. This study presents an effective method for solving robust disturbance suppression control problems and tracking control problem under large generalized disturbances.

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Neural-network-based integral sliding-mode tracking control of second-order multi-agent systems with unmatched disturbances and completely unknown dynamics

Sun

et al. 2017

Int. J. Control Autom. Syst.

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Robust backstepping control for a class of nonlinear systems using generalized disturbance observer

Cited by 21 publications

References 35 publications

Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Robust tracking control in the inertia phase for generalised disturbance

Neural-network-based integral sliding-mode tracking control of second-order multi-agent systems with unmatched disturbances and completely unknown dynamics

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