A Nonlinear Exact Disturbance Observer Inspired by Sliding Mode Techniques
نویسندگان
چکیده
منابع مشابه
Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear Hâ
In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...
متن کاملcontrol of quadrotor using sliding mode disturbance observer and nonlinear hâ
in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...
متن کاملA Sliding Mode Control based on Nonlinear Disturbance Observer for the Mobile Manipulator
A sliding mode control based on nonlinear disturbance observer is presented in this paper considering the tracking control of mobile manipulators. The proposed control strategy adopts the nonlinear observer to estimate the bounded external disturbances and overcome the effects. In addition, the stability of the controller is verified by Lyapunov theory. Finally, the simulation results verify th...
متن کاملSliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer
Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is de...
متن کاملControl of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞
International Journal of Robotics, Vol. 4, No. 1, 38-46 (2015) / Gh. Alizadeh, K. Ghasemi 39 The remainder of this paper is then organized as follows. fIGThe control strategy is exposed in Section III; in this section, two approaches of nonlinear robust control design are proposed: the SMDO control for translational movements and the nonlinear H∞ control for the rotational subsystem. Section IV...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2015
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2015/651601