Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of...

This paper proposes the observer-based proportional-integral-derivative control of positive multi-agent systems. First, a observer is constructed for considered systems in terms matrix decomposition approach. Then, novel protocol framework proposed based on an improved observer. By using copositive Lyapunov function, positivity and consensus are achieved. The corresponding gain matrices designe...

This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...