Aiming at the problems of model uncertainties and other external interference in trajectory tracking control n-degree freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) method is proposed. A (NDO) designed to forecast compensate system interference, gain make error achieve expected exponential convergence rate so that feedforwar...

A dynamic model including non-idealities for a permanent magnet linear synchronous motor (PMLSM) is postulated and verified. The non-idealities acting on the physical linear motor are measured and analyzed. These experimental results are utilized in the model. The verified simulation model is used in developing a force disturbance compensator for the velocity controller of the motor. The force ...

Control and path planning are two essential challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into artificial potential field (APF) to avoid trap of local minimum APF. The advantage that it can help UAV successfully escape from without collision with any obstacles. Moreover, may encounter problem unreac...

The use of assistive devices to control the loss strength and range motion hemiplegic patients is becoming common. It difficult develop a precise approach for knee orthosis system because unpredictability dynamics unwanted subject’s spasm, jerk, vibration during gait assistance. In this study, an adaptive neuro-fuzzy inference (ANFIS) based on nonlinear disturbance observer (NDO) dynamic slidin...

A robust control scheme is proposed for a class of systems with uncertainty and time delay based on disturbance observer technique. A disturbance observer is developed to estimate the disturbance generated by an exogenous system, and the design parameter of the disturbance observer is determined by solving linear matrix inequalities (LMIs). Based on the output of the disturbance observer, a rob...

In this paper, the class of bilinear systems subjected to unknown inputs for which there exists a disturbance decoupled observer with linear error dynamics is characterised. It is shown that the design of this kind of observer is equivalent to the design of a disturbance decoupled observer for a linear system. This result simplifies considerably the observer design comparatively to those propos...

The paper presents an observer-based estimation of sensor fault for control systems affected by friction force. In such systems, the non-linearity force leads to deteriorating capability observer. Hence, challenge is design observer capable attaining robust while avoiding effects friction. To overcome highlighted challenge, Unknown Input Observer (UIO) designed decouple as well estimate state a...