electric wheelchairs (ew) experience various terrains surfaces and slopesas well asoccupants with diverse weights. this, in turn, imparts a substantial amount of perturbation to the ewdynamics. in this paper we make use of a two-degree-of-freedom control architecture called disturbance observer (dob) which reduces sensitivity to model uncertainties while enhancing rejection of disturbances caus...

Disturbance observer-based control method has achieved good results in the car-following scenario of intelligent and connected vehicle (ICV). However, gain conventional extended disturbance observer (EDO)-based is usually set manually rather than adjusted adaptively according to real time traffic conditions, thus declining performance. To solve this problem, a strategy ICV using EDO by reinforc...

T HERE IS EVEN INCREASING DESIRE ON ACHIEVING HIGH PRECISION CONTROL for new generations of mechatronics and robotics, electrical machines and drives, power electronics, energy conversion, aerospace and automotive systems. However disturbances and uncertainties caused by the changes of the physical system or its operational environment are widely present. As is well known, there are a number of...

This paper presents the robust design for chaotic cryptosystems. The cryptosystem combines cryptograph with chaotic synchronization. The hyperchaotic signals are synchronized between the encrypter and the decrypter based on observer gains. The technique of linear matrix inequality (LMI) is applied to determine the observer gains. A theorem has been proposed to guarantee the robust stabilization...

The disturbance observer (DOB) has been one effective robust control approach for servo enhancement in singleinput-single-output systems. This paper presents a new extension of the DOB idea to dual-input-single-output systems, and discusses an optimal Q-filter design. The proposed decoupled disturbance observer (DDOB) provides a flexible approach to use the most suitable actuators for compensat...

In this paper, a fault tolerant control for induction motors based on backstepping strategy is designed. The proposed approach permits to compensate both the rotor resistance variations and the load torque disturbance. Moreover, to avoid the use of speed and flux sensors, a second order sliding mode observer is used to estimate the flux and the speed. The used observer converges in a finite tim...

In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may disrupt the performance of agents, a disturbance observer based approach is employed to estimate and reject them. Varying communication topologies are also tak...

This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results...

Abstract: The problem of state observation, based on sampled output measurements, is addressed for a class of nonlinear state-affine systems. The difficulty lies in the fact that the state equation involve the undisturbed output with unknown parameters. A hybrid adaptive observer is designed and formally analysed. Sufficient conditions are established for the observer to be exponentially conver...