The extended state observer first proposed by Jingqing Han in [Control and Decision, 10(1)(1995), 85-88] is the key link toward the active disturbance rejection control that is taking off as a technology after numerous successful applications in engineering. Unfortunately, there is no a rigorous proof of convergence to date. In this paper, we attempt to tackle this long unsolved extraordinary p...

control is less reliable than wired control due to packet loss, time delay, and packet disorder caused by wireless communication. A Bernoulli random process was used to model the possible packet loss. A modi ed LQG control with a disturbance observer (DOB) was proposed to control the cRSEA under packet loss [1]. Under the situation when future references can be previewed, the preview control te...

Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy. In this paper, • control law based on time-delay controlhas been derived for hybrid control with • condition for closed-loop stability. In addition, its relationship with the disturbance ob...

A new design approach of observer is proposed for generalized dynamical systems with unknown input disturbances. By introducing proportional gain, derivative gain and multiple-integral gains, the estimation error dynamics can be guaranteed to be internally proper stable and the disturbance can be de-coupled successfully. The system state and the input disturbance can be asymptotically estimated...

In this report, we discuss accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. To eliminate the chattering problem existed in conventional Sliding Mode Control (SMC) approach, which is caused by modeling errors and uncertainties. The efficient compensation of the disturbance observer has been introduced. The proposed sliding mo...

A state observer is a system that models a real system in order to provide an estimate of the internal state of the system. The design techniques and comparison of four different types of state observers are presented in this paper. The considered observers include Luenberger observer, Kalman observer, unknown input observer and sliding mode observer. The application of these observers to a Mul...