In this paper, a disturbance-observer-based composite anti-disturbance control method is proposed for landing of the carrier-based UAV subject to both external and internal disturbances. By virtue scheme, two nested loops are simultaneously designed. inner loop, disturbance observers employed estimate effect On other hand, in outer sliding mode (SMC) designed attenuate estimation error guarante...

Abstract In this paper, we study the stabilization problem of a disk beam structure with disturbance. Specifically, consists clamped at one end to center rotating rigid disk, while other is attached tip mass subject non-uniform bounded We start investigation by designing controller via Active disturbance rejection control (ADRC) approach. The high gain extended state observer (ESO) first design...

In this study, a tele-aiming control system for reconnaissance robots is proposed, capable of enabling operators to quickly the robot aim at and track manoeuvring target with random motion characteristics under measurement noise. To such targets, cascaded multi-model super-twisting observer designed. First, uncertainty inertial impact force disturbance generated during rapid are expanded into l...

This paper presents the design of a digitally-controlled speed electrical drive in the presence of arbitrary external immeasurable load disturbances. The extraction of a known class of external disturbances is achieved by using the novel DOB (Disturbance Observer), in which the discrete-time model of external disturbance is included implicitly. It is shown, analytically, by simulation, and expe...

Disturbance-observer-based control (DOBC) has been considered as a robust control scheme against the various unknown disturbances in many applications The existing DOBC methods were only applicable for the case where disturbances satisfy time matching condition, i.e., they enter the system in the same time as the control inputs. By appropriately designing a auxiliary observer, the disturbance o...

This letter provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of on and utilizes this estimate barrier functions to attain provably safe dynamic behavior. The observer error bound – which consists transient steady-state parts quantified, system endowed robustness against v...

Hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion and current. This paper presents a non-regressor based adaptive control scheme with a disturbance observer for tracking the trajectory of underwater mobile platform-mounted manipulators. The presented control system does not require any informatio...

In this paper, an adaptive sliding mode disturbance observer is designed to counteract the actively. By designing laws, assumptions on are relaxed in proposed observer, its first derivative upper bound considered be unknown. Based output feedback controller constructed for continuous-time linear systems with unknown external disturbance. The incorporates only system information and has less cha...

Funding information PROMETEOII/2013/004; Conselleria d'Educació; Generalitat Valenciana, Grant/Award Number: TIN2014-56158-C4-4-P-AR; Ministerio de Economía y Competitividad, Grant/Award Number: FPI-UPV 2014; Universitat Politècnica de València Summary The problem of output stabilization and disturbance rejection for input-delayed systems is tackled in this work. First, a suitable transformatio...